CN219173599U - Mechanical arm and box piece stacking and feeding device - Google Patents

Abstract

The application discloses a mechanical arm and box piece stacking and feeding device. The mechanical arm comprises an arm body, a first sucker and a supporting claw. The arm body comprises an arm body and a mounting seat arranged at the first end of the arm body. The first suction cup is disposed on the mounting base and is configured to suction the stack of cassette sheets by suction. The supporting claw is rotatably arranged on the mounting seat. The support claw is configured to rotate in a direction close to the box piece stack after the box piece stack is adsorbed by the first sucker so as to support the box piece stack, and stability of the box piece stack transported by the mechanical arm is improved. The first sucking disc adsorbs the box piece and stacks the back support claw and rotate in order to support box piece to fold to the direction that is close to first sucking disc, effectively avoids the box piece to fold and takes place to drop in the transportation process, and then improves the stability of transporting. In the process of the first sucking disc adsorption box sheet stack, the supporting claw is far away from the first sucking disc, so that the supporting claw is effectively prevented from affecting the first sucking disc adsorption box sheet stack, the efficient operation of a production line is guaranteed, and the production efficiency is improved.

Description

Mechanical arm and box piece stacking and feeding device

Technical Field

The application relates to the technical field of material conveying, in particular to a mechanical arm and cassette stacking and feeding device.

Background

The operation speed of the packaging machine in the related art is high, so that in order to ensure the normal supply of the box stacks, an operator needs to frequently repeat the carrying and the unloading work of the box stacks, the labor intensity of the operator can be increased, and the problem that the box stacks fall off due to the loss of hands in the carrying process can occur. And when the operator unloads the box piece stack onto the conveying belt, the problem that the box piece stack is disordered, so that the conveying belt is abnormal or the equipment is stopped can be caused by errors.

It should be noted that the statements in this background section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

Disclosure of Invention

The application provides a mechanical arm and box piece stacking and feeding device to improve stability of transportation.

The first aspect of the application provides a mechanical arm, which comprises an arm body, a first sucking disc and a supporting claw. The arm body comprises an arm body and a mounting seat arranged at the first end of the arm body. The first suction cup is disposed on the mount, and the first suction cup is configured to suction an article by suction. The supporting claw is rotatably arranged on the mounting seat. The holding claw is configured to rotate in a direction approaching the first sucker after the first sucker sucks the article to hold the article.

In some embodiments, an article includes an overwrap and contents disposed inside and wrapped by the overwrap. The mechanical arm also comprises a second sucker. The second sucking disc is arranged on the supporting claw. The second suction cup is configured to suction the overwrap when the holding pawl is rotated into contact with the article.

In some embodiments, the suction force of the second suction cup is less than the suction force of the first suction cup. The second suction cup is configured to suction the outer wrapper to separate the contents from the outer wrapper when the first suction cup releases the article.

In some embodiments, the arm body includes a plurality of arm segments that are in turn rotationally coupled.

In some embodiments, the support jaw includes a support bar and a support portion. The first end of the supporting rod is rotationally connected with the mounting seat. The bearing portion is arranged at the second end of the supporting rod, and the bearing portion extends in a direction approaching to the first sucker. The supporting rod is configured to rotate in a direction approaching the first sucker after the first sucker adsorbs the article, and enables the supporting part to be clamped with the bottom of the article and support the article.

In some embodiments, the robotic arm further comprises a first detection member. The first detection piece is connected with the supporting claw to detect the position of the supporting claw. The first detecting member is configured to stop rotation of the holding pawl when rotation of the holding pawl to contact the article is detected.

A second aspect of the present application provides a cassette stack feeder comprising a loading station, a delivery station and a robotic arm as described above. The article comprises a box sheet stack and an outer packaging skin wrapping the periphery of the box sheet stack. The material carrying platform is used for placing a plurality of articles to be conveyed. The robotic arm is configured to transport the stack of cassette sheets onto a transport table for transporting the stack of cassette sheets.

In some embodiments, the cassette stack feeder further comprises a cutting device. The cutting device is used for cutting the outer packaging skin. The mechanical arm also comprises a second sucker. The second sucking disc is arranged on the supporting claw. The second suction cup is configured to suction the overwrap when the holding pawl is rotated into contact with the article. The robotic arm is configured to transfer the article to the cutting device to cause the cutting device to cut through the overwrap to separate the overwrap from the stack of cartoning and then transfer the stack of cartoning to the transfer station.

In some embodiments, the cutting device is configured to cut a side of the overwrap remote from the jaws such that the overwrap sags after being slit and is sucked by the first suction cup and the second suction cup.

In some embodiments, the cassette stack feeder further comprises a recovery device. The mechanical arm is configured to drive the outer packaging skin to move to the recovery device after transferring the box sheet stack to the material conveying table. The second suction cup is configured to remove the suction force to drop the overwrap into the recovery device after the robotic arm moves to the recovery device.

In some embodiments, the robotic arm further comprises a controller. The controller is configured to control the robotic arm to operate according to the labels of the plurality of items on the loading table.

In some embodiments, the robotic arm further comprises a second detection member. The controller is in signal connection with the second detection piece. The second detecting piece is configured to detect whether the cassette stack exists at the designated position when the mechanical arm reaches the designated position according to the label, and the controller is configured to control the mechanical arm to act according to the detection result of the second detecting piece.

In some embodiments, the robotic arm is configured to rotate the tray claw in a direction away from the cassette stack to separate the tray claw from the cassette stack when the cassette stack is lowered.

Based on the technical scheme that this application provided, the arm includes the arm body, first sucking disc and holds in the palm the claw. The arm body comprises an arm body and a mounting seat arranged at the first end of the arm body. The first suction cup is disposed on the mounting base and is configured to suction the stack of cassette sheets by suction. The supporting claw is rotatably arranged on the mounting seat. The supporting claw is configured to rotate to a direction approaching the box piece stack after the box piece stack is absorbed by the first sucker so as to support the box piece stack. The adsorption force of the first sucker is matched with the bearing force of the supporting claw, so that the stability of the mechanical arm transferring box sheet stack is improved. The first sucking disc adsorbs the box piece and stacks the back support claw and rotate in order to support box piece to the direction that is close to first sucking disc, so that the box piece is folded and is received the suction of first sucking disc and the support of support claw simultaneously in the transportation process, effectively avoids the box piece to fold and takes place to drop in the transportation process, and then improves the stability of transporting. In the process of the first sucking disc adsorption box sheet stack, the supporting claw is far away from the first sucking disc, so that the supporting claw is effectively prevented from affecting the first sucking disc adsorption box sheet stack, the efficient operation of a production line is guaranteed, and the production efficiency is improved.

Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the present application, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

fig. 1 is an overall schematic diagram of a feeding device according to an embodiment of the present application.

Fig. 2 is a schematic view of the packet stack of fig. 1 wrapped with an overwrap.

Fig. 3 is a schematic view of the mechanical arm in fig. 1.

Fig. 4 is a schematic view of the robotic arm of fig. 1 adsorbing a stack of cassette sheets.

Fig. 5 is a schematic drawing of a cassette stack on the loading table of fig. 1.

Fig. 6 is a schematic view of the cassette stack of fig. 4 being held by the suction back support fingers.

Fig. 7 is a schematic view of the robotic arm of fig. 1 transferring a stack of cassettes to a cutting device.

Fig. 8 is a schematic view of the outer wrapper wrapped around the peripheral side of the stack of sheets before being cut.

Fig. 9 is a schematic view of the cut outer wrapper wrapped around the peripheral side of the stack of sheets.

Fig. 10 is a schematic view of the robotic arm of fig. 1 with a cassette stacked onto a feed table.

Fig. 11 is a schematic view of the robotic arm of fig. 1 transferring an overwrap to a recovery device.

In the figure:

100. a mechanical arm; 1. an arm body; 11. an arm body; 12. a mounting base; 2. a first suction cup; 3. a rotating base; 4. a holding claw; 41. a supporting rod; 42. a support part; 5. a second detecting member; 6. a second suction cup; 200. a material carrying table; 300. a material conveying table; 400. a cutting device; 500. a recovery device; A. stacking the box sheets; B. and (5) packaging the outer packaging skin.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways and the spatially relative descriptions used herein are construed accordingly.

As shown in fig. 1, the feeding device of some embodiments includes a loading table 200, a feeding table 300, and a robot arm 100. Wherein the loading platform 200 is used for storing articles. As shown in fig. 2, the article includes an outer wrapper B and contents disposed in and wrapped by the outer wrapper B, a loading table 300 for conveying the contents, and a robot arm 100 for carrying the article onto the loading table 300. In particular, the article may be a stack a of sheets, the contents being a plurality of stacked sheets. The pack is wrapped circumferentially by an overwrap B to prevent the plurality of packs from being spread apart, and specifically, as shown in fig. 2, the top, bottom, left, and right sides of the pack are wrapped.

As shown in fig. 3, the present application provides a mechanical arm, which includes an arm body 1, a first suction cup 2, and a holding claw 4. The arm body 1 includes an arm body 11 and a mount 12 provided at a first end of the arm body 11. The first suction cup 2 is disposed on the mount 12, and the first suction cup 2 is configured to suck the cassette stack a by suction. The holding claw 4 is rotatably arranged on the mounting seat 12. The holding claw 4 is configured to rotate in a direction approaching the cassette stack a after the first suction cup 2 sucks the cassette stack a to hold the cassette stack a. The adsorption force of the first sucker 2 is matched with the bearing force of the supporting claw 4, so that the stability of the mechanical arm transfer box sheet stack A is improved.

The first sucker 2 adsorbs the box piece and stacks A the direction rotation in order to support box piece and fold A that the A back holds in the palm claw 4 to being close to first sucker 2 for box piece stacks A receives the suction of first sucker 2 and holds in the palm claw 4's support simultaneously in the transportation process like this, effectively avoids box piece to fold A and takes place to drop in the transportation process, and then improves the stability of transporting.

In the process that the first sucker 2 adsorbs the box piece and stacks A, the support claw 4 is far away from the first sucker 2, so that the influence of the support claw 4 on the first sucker 2 to adsorb the box piece and stack A is effectively avoided, the efficient operation of a production line is ensured, and the production efficiency is improved.

The mounting seat 12 is a plate-shaped member, and the first suction cup 2 and the holding claw 4 are respectively arranged at different positions on the mounting seat 12, so that the holding claw 4 cannot interfere with the first suction cup 2 when rotating. Specifically, as shown in fig. 3, the mounting seat 12 is a square plate, the first suction cup 2 is disposed at one end of the square plate, and the holding claw 4 is disposed at the other end of the square plate.

Further, the number of first suction cups 2 is configured to be plural to increase the suction force, reducing the risk of accidental detachment of the cassette stack a.

In some embodiments, as shown in fig. 3, the robotic arm further comprises a second suction cup 6. The second suction cup 6 is arranged on the holding claw 4. The second suction cup 6 is configured to suck the outer wrapper B when the holding jaw 4 is rotated to contact the article. Specifically, referring to 6, the first suction cup 2 provides a suction force in the opposite direction of gravity to suck up the stack of sheets a, and the second suction cup 6 provides a suction force in a direction at an angle to the direction of the suction force of the first suction cup 2 to suck up the outer wrapper B when the holding claw 4 holds the stack of sheets a.

In some embodiments, the direction of the suction force of the second suction cup 6 is horizontal.

In some embodiments, the suction force of the second suction cup 6 is less than the suction force of the first suction cup 2. When the first suction cup 2 releases the stack of sheets, the second suction cup 6 is configured to suck the outer wrapper B to separate the stack of sheets a from the outer wrapper B. Specifically, the second sucking disc 6 is configured to generate the adsorption force with the same weight as the outer packaging wrapper B, so that the adsorption force of the second sucking disc 6 can not influence the lowering of the box piece stack A, the box piece stack A can be separated from the outer packaging wrapper B, and the efficiency of transferring the box piece stack A by the mechanical arm is improved.

In some embodiments, referring to fig. 3, the arm body 11 includes a plurality of arm segments that are in turn rotationally coupled. The arm section near the first end of the arm body 11 among the plurality of arm sections is connected with the mount 12. The robot arm further comprises a swivel base 3. The arm segment of the plurality of arm segments 11 near the second end of the arm body 11 is rotatably connected with the swivel base 3. The rotating base 3 and the arm sections endow the mechanical arm with larger stroke and freedom, so that the mechanical arm can meet more working demands.

In some embodiments, referring to fig. 3, the holding jaw 4 includes a holding rod 41 and a holding portion 42, a first end of the holding rod 41 being rotatably connected with the mounting base 12. The supporting portion 42 is provided at the second end of the supporting rod 41, and the supporting portion 42 extends in a direction approaching the first suction cup 2. The support rod 41 is configured to rotate in a direction approaching the first suction cup 2 after the first suction cup 2 sucks the article, and to engage the support portion 42 with the bottom of the article and support the article. Specifically, the support rods 41 are spaced apart from the inner surface of the mounting base 12 generally parallel to each other (see the broken line in fig. 6) before the support rods 41 are rotated to support the cassette stack a. After the first suction cup 2 sucks the stack a and lifts the stack a, the supporting rod 41 rotates clockwise by 90 ° to rotate the supporting portion 42 below the stack a to perform a supporting function. Further, the placement position of the supporting portion 42 on the supporting rod 41 can be adjusted to match with the box stacks a with different sizes. For example, when the size of the stack a is smaller, the placement position of the supporting portion 42 can be adjusted in a direction approaching the first end of the supporting rod 41, so that the supporting portion 42 can still be engaged with the stack a.

As shown in fig. 3, the holding claw 4 includes two holding pins 41 arranged in parallel at a spacing. The end of each supporting rod 41 is provided with a bearing portion 42. The second suction cup 6 is disposed in the gap between the two levers 41. Specifically, the holding claw 4 further includes a connecting rod connecting the two holding rods 41, and the second suction cup 6 is provided on the connecting rod.

In some embodiments, the robotic arm further comprises a first detection member. The first detecting member is connected with the holding claw 4 to detect the position of the holding claw 4. The first detection member is configured to stop rotation of the holding pawl 4 when rotation of the holding pawl 4 to contact the cassette stack a is detected. Specifically, the mechanical arm further includes a controller for controlling the rotation of the support bar 41. The first detection piece comprises a micro switch which is connected with the controller in a signal way. When the supporting rod 41 rotates to contact the box sheet stack A, the micro switch is triggered, and the controller receives signals of the micro switch and stops rotating the supporting rod 41. By arranging the micro switch, the control sensitivity is improved.

In some embodiments, the controller is further configured to control the amount of suction force of the first suction cup 2 and the second suction cup 6. Specifically, when the cassette stack a is sucked, the controller firstly controls the first suction cup 2 to generate suction force to suck the cassette stack a, then controls the plurality of arm sections to rotate to lift the cassette stack a, and controls the supporting rod 41 to rotate to support the cassette stack a below and the second suction cup 6 to generate suction force to suck the outer packaging wrapper B.

The application also provides a cassette stacking and feeding device, which comprises a loading table 200, a feeding table 300 and the mechanical arm 100. The loading table 200 is used for placing a plurality of cassette stacks a to be conveyed. The robotic arm 100 is configured to transfer a cassette stack a on a loading station 200 onto a transport station 300. The feed table 300 is used to transport the cassette stack a to the next process. Specifically, after the mechanical arm 100 transfers the cassette stack a to the designated height above the material conveying table 300, the supporting claw 4 is made to rotate so as to be separated from the cassette stack a, the adsorption force of the first sucker 2 is reduced, the cassette stack can be enabled to stably fall onto the material conveying table a, the transfer work of the cassette stack a is reliably and efficiently realized through the feeding device, and the cassette stacks a can be neatly placed on the material conveying table 300 through programming the movement track of the mechanical arm, so that the possibility of errors caused by manual operation is reduced, and the production efficiency is improved.

In some embodiments, referring to fig. 7, the cassette stack feeder further comprises a cutting device 400. The cutting device 400 is used for cutting the outer wrapper B wrapped around the peripheral side of the stack of sheets a. The robotic arm 100 is configured to transfer the stack a to the cutting device 400 to cause the cutting device 400 to cut through the overwrap B to separate the overwrap B from the stack a, and then to transfer the stack a to the transfer station 300. After the outer wrapper B is cut, as shown in fig. 9, a part thereof sags and the remaining part is sucked by the two suction cups without being separated from the outer wrapper B. And the stack a of sheets does not loosen under the combined action of the first suction cup 2 and the second suction cup 6.

In some embodiments, as shown in fig. 11, the cassette stack feeder further comprises a recovery device 500. The robotic arm 100 is configured to move the overwrap B to the recovery device 500 after transferring the stack a onto the transfer station 300. The second suction cup 6 is configured to remove the suction force after the robot arm 100 moves to the recovery device 500 to drop the outer skin B into the recovery device 500. Specifically, when the cassette stack a is lowered, the adsorption force of the first suction cup 2 may not completely disappear, but only a smaller adsorption force is retained, so that the outer packaging skin B is adsorbed in both directions, and further, the outer packaging skin B does not drop due to the adsorption force of only the second suction cup 6, and recovery is affected.

In some embodiments, the cutting device 400 is configured to cut the side of the overwrap B remote from the jaws 4 such that the overwrap B sags after being slit and is sucked by the first suction cup 2 and the second suction cup 6. Referring to fig. 9 (with stack a hidden) and fig. 11, cut outer wrapper B sags on both sides of stack a. The falling part near the side of the supporting rod 41 has a longer length, the tail end is close to the recovery device 500 in height, and when the outer packaging skin B needs to be recovered, the outer packaging skin B can smoothly fall into the recovery device 500 only by reducing or eliminating the adsorption force of the two sucking discs 6.

In some embodiments, the overwrap B may be kraft paper. Kraft paper can provide better bundling of the box sheet stack.

In some embodiments, the controller is further configured to index a plurality of cassette stacks a on the loading station 200 and control the robotic arm 100 to operate. Specifically, the operator can make the mechanical arm 100 reach the designated position to perform the transferring work through the controller, so that the controllability is improved.

In some embodiments, the controller marks the plurality of cassette stacks a in sequence and controls the robotic arm 100 to transport the cassette stacks a one by one in the marked sequence. Referring to fig. 5, the controller sequentially marks corresponding placement positions of the plurality of cassette stacks a on the loading table 200, and then controls the robotic arm 100 to sequentially transfer. For example, the manipulator first reaches the S1 position for transfer, and then sequentially reaches the S2 position for transfer.

In some embodiments, the robotic arm further comprises a second detecting member 5. The controller is in signal connection with the second detecting element 5. The second detecting member 5 is configured to detect whether or not the cassette stack a exists at the specified position when the robot arm 100 reaches the specified position according to the index. The controller is configured to control the movement of the robot arm 100 according to the detection result of the second detection member 5. Specifically, the second detecting member 5 is a photoelectric switch. For example, when the mechanical arm 100 reaches the position S1, if the photoelectric switch detects that there is no cassette stack a, the controller controls the mechanical arm to sequentially reach the position S2, and if the photoelectric switch detects that there is a cassette stack a, the transfer is performed; if the photoelectric switch detects that the cassette stack A still does not exist, the controller continues to control the mechanical arm to reach the S3 position for detection.

In some embodiments, referring to fig. 10, the robotic arm 100 is further configured to rotate the holding pawl 4 away from the cassette stack a to separate the holding pawl 4 from the cassette stack a when the cassette stack a is lowered. Specifically, when the holding claw 4 is rotated 90 ° counterclockwise so that the suction force of the first suction cup 2 is reduced or vanished, the cassette stack a can be freely dropped without being obstructed by the holding claw 4.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application and not for limiting the same; although the present application has been described in detail with reference to preferred embodiments, those of ordinary skill in the art will appreciate that: modifications may be made to the specific embodiments herein or equivalents may be substituted for part of the technical features; without departing from the spirit of the technical solutions of the present application, it should be covered in the scope of the technical solutions claimed in the present application.

Claims (13)

1. A robotic arm, comprising:

the arm body (1) comprises an arm body (11) and a mounting seat (12) arranged at the first end of the arm body (11);

-a first suction cup (2), the first suction cup (2) being arranged on the mounting base (12) and the first suction cup (2) being configured to suck an article by suction; and

and the supporting claw (4) is rotatably arranged on the mounting seat (12), and the supporting claw (4) is configured to rotate towards a direction approaching to the first sucker (2) after the first sucker (2) adsorbs the article so as to support the article.

2. The robotic arm of claim 1, wherein the article comprises an outer wrapper (B) and contents disposed inside and wrapped by the outer wrapper, the robotic arm further comprising a second suction cup (6), the second suction cup (6) disposed on the holding jaw (4), the second suction cup (6) configured to adsorb the outer wrapper (B) when the holding jaw (4) is rotated into contact with the article.

3. The robotic arm of claim 2, wherein the suction force of the second suction cup (6) is smaller than the suction force of the first suction cup (2), the second suction cup (6) being configured to suck the outer wrapper (B) to separate the content from the outer wrapper (B) when the first suction cup (2) releases the article.

4. The mechanical arm according to claim 1, characterized in that the arm body (11) comprises a plurality of arm segments which are in turn rotationally connected.

5. The mechanical arm according to claim 1, wherein the holding claw (4) comprises a holding rod (41) and a bearing part (42), a first end of the holding rod (41) is rotatably connected with the mounting seat (12), the bearing part (42) is arranged at a second end of the holding rod (41), the bearing part (42) extends in a direction approaching the first sucker (2), and the holding rod (41) is configured to rotate in a direction approaching the first sucker (2) after the first sucker (2) adsorbs the article and enable the bearing part (42) to be clamped with the bottom of the article and bear the article.

6. The robotic arm of claim 1, further comprising a first detection member coupled to the gripper (4) to detect a position of the gripper (4), the first detection member configured to stop rotation of the gripper (4) upon detecting rotation of the gripper (4) into contact with the item.

7. A stack feeder comprising a loading station (200), a transfer station (300) and a robotic arm (100) according to any one of claims 1 to 6, said articles comprising a stack (a) and an outer wrapper (B) wrapped around the perimeter of said stack (a), said loading station (200) being adapted to receive a plurality of said articles to be transferred, said robotic arm (100) being configured to transfer said stack (a) onto said transfer station (300), said transfer station (300) being adapted to transfer said stack (a).

8. The cassette stack feeding device according to claim 7, further comprising a cutting device (400), the cutting device (400) being adapted to cut the outer skin (B), the robotic arm further comprising a second suction cup (6), the second suction cup (6) being arranged on the gripper (4), the second suction cup (6) being configured to adsorb the outer skin (B) when the gripper (4) is rotated into contact with the article, the robotic arm (100) being configured to first transfer the article to the cutting device (400) to cause the cutting device (400) to cut the outer skin (B) to separate the outer skin (B) from the cassette stack (a), and to then transfer the cassette stack (a) onto the transfer table (300).

9. Cassette stack feeding device according to claim 8, characterized in that the cutting device (400) is configured to cut the side of the outer skin (B) remote from the holding jaw (4) such that the outer skin (B) sags after being slit and is sucked by the first suction cup (2) and the second suction cup (6).

10. The cassette stack feeding device according to claim 8, further comprising a recovery device (500), wherein the robotic arm (100) is configured to drive the overwrap (B) to move to the recovery device (500) after transferring the cassette stack (a) onto the feeding table (300), and wherein the second suction cup (6) is configured to remove suction force to drop the overwrap (B) to the recovery device (500) after the robotic arm (100) moves to the recovery device (500).

11. The cassette stacking and feeding device of claim 7, wherein said robotic arm further comprises a controller configured to control the robotic arm (100) to operate in accordance with a label of a plurality of said articles on said loading table (200).

12. The cassette stack feeder of claim 11, wherein the robotic arm further comprises a second detection member (5), the controller is in signal connection with the second detection member (5), the second detection member (5) is configured to detect whether the cassette stack (a) is present at a designated position when the robotic arm (100) reaches the designated position according to the label, and the controller is configured to control the robotic arm (100) to act according to a detection result of the second detection member (5).

13. Cassette stack feeding device according to claim 7, characterized in that the robotic arm (100) is configured to rotate the holding jaw (4) away from the cassette stack (a) to separate the holding jaw (4) from the cassette stack (a) when lowering the cassette stack (a).

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