TW202327938A - Automatic feeding system for packaging sleeves and automatic feeding method for packaging sleeves - Google Patents

Abstract

An automatic feeding system for packaging sleeves and an automatic feeding method for packaging sleeves. The automatic feeding system is used for supplying packaging sleeves (920) in groups to a packaging sleeve material rail (910); the packaging sleeve material rail (910) extends in a feeding direction (J); the packaging sleeves (920) in groups comprise a plurality of packaging sleeves stacked together; and the packaging sleeves (920) in groups are supplied to the packaging sleeve material rail (910) in a state where a stacking direction of the plurality of packaging sleeves is parallel to the feeding direction (J). The system comprises: a feeding station (100) used for stacking the plurality of packaging sleeves (920) in groups that are stacked together, and each of the packaging sleeves (920) in groups is wrapped in an outer packaging film; a processing station (200) comprising a film removal device (210) used for removing the outer packaging film from each of the packaging sleeves (920) in groups; a manipulator (300); and a controller (800), wherein the controller (800) is configured to control the manipulator (300) to take the packaging sleeves (920) in groups from the feeding station (100) to the processing station (200) and control the manipulator (300) to supply the packaging sleeves (920) in groups without the outer packaging film from the processing station (200) to the packaging sleeve material rail (910).

Description

Automatic feeding system for packaging sleeve and automatic feeding method for packaging sleeve

For all purposes, this application is based on and claims the priority of Chinese Patent Application No. 202111399363.3 and No. 202122876449.2 filed on November 19, 2021, and this application is also based on and claims the priority of Chinese Patent Application No. 202122876449.2 filed on April 14, 2022 The priority of application No. 202220866419.5, this application is also based on and claims the priority of Chinese patent applications No. 202211115126.4 and No. 202222429180.8 submitted on September 14, 2022. as part of this application. Embodiments of the present disclosure relate to an automatic feeding system for packaging sleeves and an automatic feeding method for packaging sleeves.

The packaging box is a boxed piece for containing contents, and the contents may be liquid contents such as milk and fruit juice, or solid contents. The pack is formed, for example, from a sheet of material whose ends are joined together and then crimped to form the pack in the folded state. The package in its folded state is referred to herein as a packaging sleeve.

The box forming device is used to form the packaging sleeve into the final box, which for example separates the folded parts of the folded packaging sleeve, seals the bottom end, fills the contents, and then seals the top end to form the final product.

Currently, it is necessary to manually remove the outer packaging film of the group of packaging sleeves covered with the outer packaging film, and then provide it to the packaging sleeve rail of the packaging sleeve forming device in the correct orientation for the packaging box forming device. use. With the continuous increase of labor costs, an automatic feeding system for automatically providing packaging sleeves is required.

At least one embodiment of the present disclosure provides an automatic feeding system for packaging sleeves, which is used to provide groups of packaging sleeves to the packaging sleeve material rail, the packaging sleeve material rail extends in the feeding direction, and the The packaging sleeve includes a plurality of packaging sleeves stacked together, and the grouped packaging sleeves are provided into the packaging sleeve material rail in a state in which the stacking direction of the plurality of packaging sleeves is parallel to the feeding direction. The system includes: an infeed station for stacking multiple pack sleeves stacked together, each pack sleeve wrapped with an outer wrapping film; Film is removed from the set of packaging sleeves; a robot arm; and a controller configured to control the robot arm to take the set of packaging sleeves from the infeed station to the processing station, and to control the robot arm to remove the outer packaging sleeve Groups of packaging sleeves following the packaging film are supplied from the processing station into the packaging sleeve infeed.

For example, in some embodiments, the packaging sleeve automatic feeding system further includes: a buffer station, which is used for stacking groups of packaging sleeves wrapped by the outer packaging film. The feed station includes a guard barrier movable between a closed position, in which the guard guard prevents the manipulator from entering the feed station, and an open position, in which the guard guard allows the manipulator to enter the feed station. The controller is configured to: when receiving a user command indicating refilling, control the protective baffle of the feeding station to move to the closed position, and when the protective baffle is in the closed position, control the manipulator to take the finished product from the buffer station. and when a user command indicating completion of feeding is received, the protective flap of the control feeding station is moved to the open position, and when the protective flap is in the open position, the control manipulator is moved from the The infeed station takes groups of packaging sleeves to the processing station.

For example, in some embodiments, the feed station also includes a feed safety door, by which refill is made from outside the system, the controller is configured to allow feed only when the feed station's guard flap is moved to the closed position The security door opens.

For example, in some embodiments, the buffer station and the infeed station are arranged side by side in a transverse direction perpendicular to the infeed direction and opposite to the packaging sleeve rail in a direction parallel to the infeed direction. The processing station and the base of the manipulator are arranged side by side in a transverse direction perpendicular to the feeding direction, and arranged in a direction parallel to the feeding direction between the packaging sleeve rail and the buffer station and the feeding station. And, in the transverse direction perpendicular to the feeding direction, the base of the manipulator and the feeding station are respectively arranged opposite to the processing station and the buffering station.

For example, in some embodiments, the manipulator is rotatably mounted on the base, and the feeding station, the buffer station, the processing station and the packaging sleeve rail are sequentially arranged around the base on the movement track of the manipulator.

For example, in some embodiments, the packaging sleeve automatic feeding system further includes: a feeding progress sensor configured to sense the number of packaging sleeves in the packaging sleeve rail; and a buffer quantity sensor , configured to sense the number of sets of packaging sleeves wrapped in the overwrap film in the buffer station. The controller is configured to: when the quantity of the packaging sleeves in the packaging sleeve material track satisfies the first predetermined condition and the quantity of the grouped packaging sleeves wrapped by the outer packaging film in the buffer station satisfies the second predetermined condition, The control manipulator takes the grouped packaging sleeves wrapped by the outer packaging film from the feeding station to the buffer station.

For example, in some embodiments, there are multiple packaging sleeve material rails, the first predetermined condition is that the multiple packaging sleeve material rails all include more than the first predetermined number of packaging sleeves, and the second predetermined condition is that the buffer station includes Fewer than a second predetermined number of groups of packaging sleeves wrapped by the overwrap film.

For example, in some embodiments, the manipulator includes a first end effector, and the manipulator is configured to use the first end effector to provide the set of packaging sleeves from the processing station to the packaging sleeve with the outer packaging film removed. Material rail. The first end effector includes a first base and a pair of jaws, a pusher and a puller mounted to the first base. A pair of jaws extend in a first direction relative to the first base and are configured to move between a gripping position and a release position in a second direction perpendicular to the first direction, the pusher having a push perpendicular to the first direction On the other hand, the puller is configured to be attachable to the set of packaging sleeves and to be movable in a first direction.

For example, in some embodiments, the controller is configured to: control the manipulator to move the first base so that the first direction is aligned with the stacking direction of a plurality of packaging sleeves in the group of packaging sleeves; Take the grouped packaging sleeve and place the grouped packaging sleeve on the packaging sleeve material rail; when the grouped packaging sleeve is placed on the packaging sleeve material rail, the control pusher pushes the grouped packaging sleeve in the stacking direction the packing sleeve; and the control pulling member, while the pushing member pushes the grouped packing sleeve, the gate pressing block that pulls the packing sleeve material rail moves in the stacking direction until near the pushing surface of the pushing member so that the gate pressing block can be released To press the packaging sleeve. A gate block presses the packaging sleeve in the packaging sleeve rail in the feed direction, the shutter block being configured to pivot to stop depressing the packaging sleeve about an upright direction perpendicular to the feed direction when pulled by the pulling member s position.

For example, in some embodiments, the manipulator further includes a second end effector, the manipulator is configured to take groups of packaging sleeves from the feed station to the processing station using the second end effector, the second end effector Includes suction cups.

For example, in some embodiments, the processing station further includes a dedusting device configured to dedust the set of packaging sleeves from which the outer packaging film has been removed.

For example, in some embodiments, the processing station also includes a positioning device that senses the orientation of the set of packaging sleeves and an overturning device for inverting the set of packaging sleeves to make them correct. position.

For example, in some embodiments, the packaging sleeve automatic feeding system also includes: a film collection station, which collects the outer packaging film removed from the grouped packaging sleeves; a set of packaging sleeves; and a separator recycling station, which collects separators. Groups of packaging sleeves are stacked at the infeed station in layers, each layer comprising a plurality of groups of packaging sleeves arranged in an array, and the layers are separated by spacers.

For example, in some embodiments, the controller is configured to: control the manipulator to take the removed outer packaging film from the film removal device to the film collection station; The packaging sleeve is sent to the defective product recycling station, and the manipulator is controlled to take the separator paper from the feeding station to the separator paper recycling station.

For example, in some embodiments, the buffer station and the feeding station are arranged side by side in the transverse direction perpendicular to the feeding direction, and are arranged opposite to the packaging sleeve rail in the direction parallel to the feeding direction, and the processing station and the machine The bases of the hands are arranged side by side in a transverse direction perpendicular to the feeding direction and arranged in a direction parallel to the feeding direction between the packaging sleeve rail and the buffer station and the feeding station. And, in the transverse direction perpendicular to the feeding direction, the base of the manipulator and the feeding station are respectively arranged opposite to the processing station and the buffer station, and the film collection station is arranged on the side of the processing station in the transverse direction perpendicular to the feeding direction. On the side away from the base of the manipulator, the separator recycling station is set in the transverse direction perpendicular to the feeding direction on the side of the buffer station away from the feeding station, the film collection station, the defective product recycling station and the separator recycling station The outer periphery of the system is set in sequence in a direction parallel to the feed direction.

For example, in some embodiments, the film removal device includes: a feeding channel extending along a first direction, a cutting station is provided in the feeding channel; a feeding element, the feeding element includes: A carrying plate in the material channel and moving along the first direction, and a first drive mechanism for driving the action of the carrying plate, the carrying plate is used to carry materials and support on the surface to be cut of the materials; along Two support elements arranged in a second direction and respectively located on opposite sides of the feeding channel, the second direction is perpendicular to the first direction, the support elements have a support surface, and in the second direction , the bearing plate is located between the two supporting surfaces, and the two supporting surfaces are used to respectively support the two opposite side portions of the surface to be cut of the material, when the material is located at the cutting station When, the material is supported on the two supporting surfaces; the stopper element, the stopper element includes a stopper guide located on the peripheral side of the feeding channel, and the stopper guide is located at The support surface faces one side of the cutting station; and the limiter guides on at least two opposite sides of the surrounding side of the feeding channel are limiter pressing pieces, each of the limiter pressing pieces A second drive mechanism is connected, and the second drive mechanism is used to drive the position-limiting pressing member to move toward or away from the material; a cutting element, the cutting element includes: A cutter element on one side of the cutting station, and a third driving mechanism for driving the cutter element to move in a third direction, the third direction is perpendicular to the first direction, and the third direction Perpendicular to the second direction, the cutter element is used to face the surface of the material to be cut and cut the outer packaging film of the material.

For example, in some embodiments, in the third direction, at least one side of the feeding channel corresponding to the initial position of the cutter element is provided with a flaring element, and the flaring element includes: An expansion element for expanding the outer packaging film on the side of the material along the second direction, a fourth driving mechanism for driving the expansion element along the third direction, and a fourth driving mechanism for driving the expansion element along the second direction. The fifth driving mechanism that moves in the first direction.

For example, in some embodiments, the spreading element includes two spreading elements that can approach or move away from each other along the second direction, and a sixth driving mechanism for driving the spreading elements.

For example, in some embodiments, in the third direction, both sides of the feeding channel are provided with the flaring elements.

For example, in some embodiments, the cutter element includes a cutter, and a contact block for contacting with the material is provided on the side of the cutter toward the support surface, and the contact block is in contact with the cutter One end of the same direction of the blade of the knife exceeds the blade to form a protruding part, the free end of the protruding part is a "V" shape structure, and the tip of the "V" shape structure is in the same direction as the blade of the cutting knife set up.

For example, in some embodiments, the membrane splitting device further includes: two membrane separation elements respectively located on opposite sides of the feeding channel in the second direction, each of the membrane separation elements includes The grabbing element for grabbing the cut outer packaging film and the seventh drive mechanism for driving the grabbing element to move away from or close to the feeding channel. between the support surface and the limiter guide.

For example, in some embodiments, the gripping element comprises a suction cup element.

For example, in some embodiments, each of the support elements includes a support plate, and an eighth driving mechanism for driving the support plate to move in the second direction, and the top surface of the support plate forms the support plate. noodle.

For example, in some embodiments, the limiting pressing members are respectively provided on both sides in the second direction in the feeding channel; and the two sides in the third direction in the feeding channel The limiting pressing parts are respectively arranged on the sides.

For example, in some embodiments, corresponding to the film removal device, there are: a dust removal plate located on the side of the limiter guide away from the support element, and a dust removal plate installed on the side of the limiter away from the limiter. For the top dust removal element on one side of the guide piece, the dust removal plate is provided with an opening opposite to and communicating with the feeding channel.

For example, in some embodiments, the top dust removal element includes: a dust suction part, and a ninth driving mechanism for driving the dust suction part to move along the extending direction of one side of the opening.

For example, in some embodiments, the dust removal plate is further provided with ventilation slots, and the ventilation slots are connected with bottom dust suction elements.

For example, in some embodiments, corresponding to the membrane tearing device, there are also: an overturning element, the overturning element includes an overturning bracket, an overturning frame mounted on the overturning bracket and used to carry materials that can rotate around its own axis Body, and a drive assembly for driving the rotation of the reversing frame, the rotation axis of the reversing frame is perpendicular to the first direction; it is arranged on the peripheral side of the reversing frame and used to detect the material The camera element identified by the preset.

For example, in some embodiments, corresponding to the film removal device, a scanner is provided on the peripheral side of the reversing frame and used for detecting the identification code on the material.

For example, in some embodiments, a collection box for collecting the removed outer packaging film is provided corresponding to the film removal device.

For example, in some embodiments, the film removal device includes: a feed channel extending along a first direction, the feed channel has a feed port, the feed channel has a first cutting station and a The second cutting station of the feed port; the film opening mechanism, the film opening mechanism includes: two first cutting elements located at the first cutting station, the two first cutting elements are arranged oppositely along the second direction, so The first direction is perpendicular to the second direction; the two first drive assemblies corresponding to the two first cutting elements, in each pair of first drive assemblies and first cutting elements corresponding to each other, the first A drive assembly drives the first cutting element to move along a first path, the first drive assembly drives the first cutting element to move along a second path, the first path and the second path include overlapping portions, the overlapping portion and the The first path is parallel to the first direction; the first path further includes a first portion connected to the overlapping portion, the second path further includes a second portion connected to the overlapping portion, and the first portion forms an angle with the second portion wherein, the included angle of the opening toward the feed inlet is less than 180∘; the film opening mechanism further includes: a second cutting element located at the second cutting station, for driving the second cutting element along the second direction A moving second drive assembly; wherein, the second cutting element includes a cutter part and an adsorption part, and the adsorption part is used to adsorb the outer packaging film so that there is a gap between the material and the outer packaging film, The second driving assembly drives the cutter part to move along the second direction.

For example, in some embodiments, the film opening mechanism further includes: a suction cup element located at the second cutting station, the suction cup element is used to absorb the outer packaging film so that the material and the outer packaging There are gaps in the membrane.

For example, in some embodiments, the first driving assembly includes: a telescopic part, a cut film track, a switching plate and a switching track extending along a third direction, the third direction is perpendicular to the first direction, and the The third direction is perpendicular to the second direction, and the switching plate moves along the second direction to switch the cutting film track between the first path and the second path; the first cutting The element moves along the first path or the direction of the second path, and the first cutting element includes: a partition and a knife seat connected to the partition; wherein, the fixed end of the telescopic portion moves along the switch The extension direction of the track moves, and the free end of the telescopic part is connected with the partition part.

For example, in some embodiments, the partition includes a film suction seat, and the film suction seat is used to absorb the outer packaging film of the material.

For example, in some embodiments, the partition includes a film blowing seat, and the film blowing seat is used to blow up the outer packaging film of the material.

For example, in some embodiments, the telescoping portion includes an air cylinder.

For example, in some embodiments, the film removal device of the automatic feeding system for packaging sleeves further includes: a feeding mechanism and a third drive assembly that drives the feeding mechanism to move along the first direction; The feeding mechanism includes a first storage bin located in the feeding channel, the first storage bin has a first opening corresponding to the feeding inlet, and the first storage bin is used to carry the material.

For example, in some embodiments, the feeding mechanism further includes a first overturning element, the first overturning element is in transmission connection with the first storage compartment, and the first storage compartment is overturned so that the first opening The orientation of is toggled between said first orientation and said third orientation.

For example, in some embodiments, the feeding mechanism further includes: two film-absorbing elements and a fourth drive assembly oppositely arranged along the third direction, the film-absorbing elements are used to grab the cut outer packaging membrane, the fourth drive assembly is used to drive the membrane suction element to approach or move away from the feed channel.

For example, in some embodiments, the suction membrane element comprises a suction cup.

For example, in some embodiments, the film removal device of the packaging sleeve automatic feeding system further includes: a conveying channel extending along the third direction, and the conveying channel communicates with the feeding channel; The feed channel is parallel to the discharge channel, and the feed channel communicates with the conveying channel, and the discharge channel has a discharge port.

For example, in some embodiments, the film removal device of the packaging sleeve automatic feeding system further includes: a pushing mechanism located in the conveying channel, the pushing mechanism includes a pushing element and a fifth drive assembly; the first The storage bin has a through groove opposite to the first opening, the pushing side of the push element matches the through groove, and the fixed end of the push element is connected to the fifth drive assembly; the fifth drive assembly Driving the pushing element to move along the third direction, the pushing side of the pushing element extends into or exits from the through slot into or out of the first storage compartment, so as to dismantle the outer package located in the first storage compartment The material of the membrane is pushed to the discharge channel.

For example, in some embodiments, the pushing element includes a pushing plate and a limit rod, the side of the pushing plate away from the pushing side is the installation side, and the fifth drive assembly is connected to the installation side, so The limiting rod is arranged along the moving direction of the fifth driving assembly and connected to the installation side.

For example, in some embodiments, the film removal device of the automatic feeding system for packaging sleeves further includes a discharge mechanism and a sixth drive assembly that drives the discharge mechanism to move along the first direction; the discharge The mechanism includes a second storage bin located in the discharge channel, the second storage bin has a second opening corresponding to the discharge port, and the second storage bin is used for carrying materials for removing the outer packaging film.

For example, in some embodiments, the discharge mechanism further includes a second overturning element, the second overturning element is in transmission connection with the second storage compartment, and the second storage compartment is overturned so that the second opening The orientation of is toggled between said first orientation and said third orientation.

For example, in some embodiments, the packaging sleeve automatic feeding system further includes a dust removal mechanism, which is located in the discharge channel and removes dust from the material from which the outer packaging film has been removed.

For example, in some embodiments, the packaging sleeve automatic feeding system further includes: a film packet collecting device for collecting the removed outer packaging film.

For example, in some embodiments, the film bag collection device includes: a receiving bin, a discharge element and a seventh drive assembly; the receiving bin has a connected collection port and a discharge port, and the discharge element is set In the material receiving bin, the seventh drive assembly is in transmission connection with the discharge element, and transmits the outer packaging film from the collection port to the discharge port.

For example, in some embodiments, the discharge element includes a first discharge screw, and the first discharge screw is in transmission connection with the seventh drive assembly.

For example, in some embodiments, the discharge element further includes a second discharge screw engaged with the first discharge screw.

For example, in some embodiments, the packaging sleeve automatic feeding system further includes: a spacer recycling device.

For example, in some embodiments, the separator recycling device includes a placement platform for placing separators, a pushing mechanism and a box; the pushing mechanism is used to push the separators placed on the placement platform to drop to the inside the box.

For example, in some embodiments, the separator recovery device includes a frame, a storage box, and a placement rod; the storage box is rotatably mounted on the frame, and the placement rod for placing the separator in the containment box.

At least one embodiment of the present disclosure provides an automatic feeding method for packaging sleeves, which is used to provide groups of packaging sleeves to the packaging sleeve material rail, the packaging sleeve material rail extends in the feeding direction, and the grouped The packaging sleeve includes a plurality of packaging sleeves stacked together, and the grouped packaging sleeves are provided into the packaging sleeve material rail in a state in which the stacking direction of the plurality of packaging sleeves is parallel to the feeding direction. The method includes: using a manipulator to take groups of packaging sleeves from an infeed station to a processing station, the infeed station is used to stack a plurality of groups of packaging sleeves stacked together, each group of packaging sleeves Wrapped by an outer packaging film, the processing station includes a film removal device; the outer packaging film is removed from the group of packaging sleeves by the film removal device; and the group of packaging sleeves after the removal of the outer packaging film is removed by a robot Provided from the processing station into the packaging sleeve rail.

For example, in some embodiments, the automatic feeding method further includes: in response to a user command indicating refilling, moving the protective flap of the feeding station to the closed position, and when the protective flap is in the closed position, mechanically taking groups of packaging sleeves by hand from a buffer station for stacking groups of packaging sleeves wrapped by an overwrap to a processing station; The baffle moves to the open position, and when the protective baffle is in the open position, the manipulator is used to take the grouped packaging sleeves from the feeding station to the processing station.

For example, in some embodiments, the automatic feeding method further includes: using a feeding progress sensor to sense the number of packaging sleeves in the packaging sleeve rail; The quantity of packaging sleeves wrapped by outer packaging film; When the number of tubes satisfies the second predetermined condition, the manipulator is used to take groups of packaging sleeves from the feeding station to the buffering station.

For example, in some embodiments, the manipulator includes a first end effector and a second end effector, and the set of packaging sleeves with the outer packaging film removed is provided from the processing station to the packaging sleeve by the first end effector. The sleeve rail, which utilizes the second end effector to take groups of packaging sleeves from the infeed station to the processing station. The method also includes switching between the first end effector and the second end effector.

For example, in some embodiments, the processing station further includes positioning means and turning means. The method also includes: using the positioning device to sense the orientation of the grouped packaging sleeves, and when sensing that the orientation of the grouped packaging sleeves is incorrect, using the turning device to turn the grouped packaging sleeves over for correct positioning , when the grouped packaging sleeves are correctly positioned, the outer packaging film is removed from the grouped packaging sleeves by using a film tearing device.

For example, in some embodiments, the automatic feeding method also includes: using a manipulator to move the packaging sleeve device that cannot be correctly positioned at the processing station to the defective product recycling station; using a manipulator to move the removed outer packaging film to the film collection station; and use the robot to move the separator paper to the separator paper recycling station. The groups of packaging sleeves are stacked at the infeed station in layers, each layer comprising a plurality of groups of packaging sleeves arranged in an array, and each layer separated by a spacer.

Hereinafter, an automatic feeding system for packaging sleeves and an automatic feeding method for packaging sleeves according to embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In order to make the purpose, technical solutions and advantages of the utility disclosure clearer, the technical solutions in the embodiments of the disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the disclosure. Obviously, the described embodiments are The present disclosure discloses some embodiments, but not all embodiments.

The following detailed description of the embodiments of the disclosure, provided in conjunction with the accompanying drawings, is not intended to limit the scope of the claimed disclosure, but merely represents selected embodiments of the disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without making progressive efforts fall within the protection scope of the present disclosure.

A singular form includes a plural form unless the context dictates otherwise. Throughout the specification, the terms "comprising", "having", etc. are used herein to designate the presence of stated features, figures, steps, operations, elements, components or combinations thereof, but do not exclude the presence or addition of one or more Other features, figures, steps, operations, elements, parts or combinations thereof.

In addition, even though terms of ordinal numbers such as “first” and “second” are used to describe various components, the components are not limited by these terms and these terms are only used to distinguish one element from other elements.

Currently, it is necessary to manually provide groups of packaging sleeves to the packaging sleeve rail of the packaging sleeve forming device for use by the packaging box forming device. The group of packaging sleeves includes a plurality of packaging sleeves stacked together, and the group of packaging sleeves is provided into the packaging sleeve material rail in the state that the stacking direction of the packaging sleeves is parallel to the feeding direction. For example, groups of packaging sleeves are overwrapped to prevent contamination during transport. It is therefore necessary to manually remove the outer wrapping film covering the grouped packaging sleeves before they can be supplied and then supplied to the packaging sleeve rail in the correct orientation. Although some means exist for removing the outer wrapping film covering the set of packaging sleeves, for turning the set of packing sleeves into the correct orientation, or for dedusting the set of packing sleeves from which the outer wrapping film has been removed . However, there is still a lack of automated systems that automatically perform the loading of packaging sleeves without human intervention.

At least one embodiment of the present disclosure provides an automatic feeding system for packaging sleeves, which is used to provide groups of packaging sleeves to the packaging sleeve material rail, the packaging sleeve material rail extends in the feeding direction, and the grouped The packaging sleeve includes a plurality of packaging sleeves stacked together, and the set of packaging sleeves is provided into the packaging sleeve rail in a state in which the stacking direction of the plurality of packaging sleeves is parallel to the feeding direction. The system comprises: a feeding station for stacking a plurality of such groups of packaging sleeves stacked together, each said group of packaging sleeves being wrapped by an outer packaging film; removing the outer packaging film from the group of packaging sleeves; a manipulator; and a controller configured to control the manipulator to take the group of packaging sleeves from the feed station to the processing station, and to control the manipulator to Groups of packaging sleeves after removal of the outer packaging film are supplied from a processing station into a packaging sleeve infeed.

This packaging sleeve automatic feeding system uses the processing station to automatically process the grouped packaging sleeves, and uses the controller to control the manipulator to automatically place the grouped packaging sleeves at the feeding station, processing station and packaging Transfer between sleeve rails. Thus, it is allowed to carry out the feeding of the packaging sleeves automatically without human intervention.

In addition, the system includes a buffer station for stacking groups of packaging sleeves wrapped in an outer packaging film.

The feed station includes a guard barrier movable between a closed position, in which the guard guard prevents the manipulator from entering the feed station, and an open position, in which the guard guard allows the manipulator to enter the feed station. The controller is configured to: when receiving a user command indicating replenishment, control the protective flap of the feeding station to move to the closed position, and then control the manipulator to take groups of packaging sleeves from the buffer station; Upon a user command indicating completion of the refill, the guard flap controlling the feed station moves to the open position and the manipulator is then controlled to take groups of packaging sleeves from the feed station.

By setting up the buffer station, the manipulator can uninterruptedly take groups of packaging sleeves from one of the buffer station and the feeding station, thus ensuring that when the operator refills, it can also be carried out uninterruptedly to the packaging Loading of packaging sleeves for the sleeve rail. In some embodiments, the buffer station only needs to stack significantly fewer groups of packaging sleeves than the feeding station, and its footprint is smaller than that of the feeding station, thus saving the floor space of the automatic feeding system , reducing production costs.

In addition, since the feeding station is equipped with a protective baffle, it isolates the operator who is feeding the material from other parts of the system, thereby ensuring the safety of the operator and improving the safety of the system.

Additionally, the manipulator of the system includes a first end effector, the manipulator being configured to use the first end effector to provide the set of packaging sleeves from the processing station to the packaging sleeve rail with the overwrap film removed . The first end effector includes: a first base, a pair of jaws, a pusher and a puller, the pair of jaws extend in a first direction with respect to the first base and are configured to move in a second direction perpendicular to the first direction Moves in two directions between a clamped position and a released position. The pushing member has a pushing surface perpendicular to the first direction. The puller is configured to move in a first direction.

Therefore, the packaging sleeve material rail is a track extending in the feeding direction, and the stacked packaging sleeves are stacked in the feeding direction to be sequentially fed to the packaging box forming device for forming processing. The packaging sleeve rail includes a gate press which presses the packaging sleeve in the packaging sleeve rail in the feed direction to prevent it from tilting or collapsing. In addition, the shutter block keeps the packaging sleeves placed in the packaging sleeve rail next to each other, thus ensuring continuous execution of the feed. Therefore, when a group of packaging sleeves is provided in the packaging sleeve rail, it is necessary to make the gate block move away from the existing packaging sleeve in the packaging sleeve rail, and then make the group of packaging sleeves rest against the After the existing packaging sleeve, the gate briquetting block is restored to press the updated packaging sleeve in the packaging sleeve material rail. This complex operation can be performed automatically by means of the first end effector. The first end effector ensures the fully automatic operation of the packaging sleeve automatic feeding system.

Figure 1 shows a schematic top view of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure, and Figure 2 shows a schematic block diagram of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure picture.

As shown in Figure 1 and Figure 2, the packaging sleeve automatic feeding system includes a feeding station 100, a processing station 200, a buffer station 400, a film collection station 500, a defective product recycling station 600, a separator recycling station 700, mechanical Hand 300 and Controller 800. The controller 800 is configured to communicate with one or more of the feeding station 100, the processing station 200, the buffer station 400, the film collection station 500, the defective product recycling station 600, the septum recycling station 700, and the manipulator 300, so as to Devices and manipulators 300 that control some or all of these stations. The manipulator 300 moves under the control of the controller 800, for example, to transport groups of packaging sleeves 920, outer packaging films or separators, etc. between these stations. Therefore, through the setting of these stations, the manipulator 300 and the controller 800 controlling the manipulator 300 , the packaging sleeve automatic feeding system realizes the automatic feeding operation to the packaging sleeve material rail 910 .

The controller 800 includes, for example, a microprocessor, a digital signal processor (“DSP”), an application specific integrated circuit (“ASIC”), a field programmable gate array (“FPGA”), and the like. Controller 800 may include a plurality of individual sub-controllers. For example, the controller 800 can also be connected with a remote server to remotely monitor and control the operation of the system. The controller 800 can store the operating parameters of the system in a local storage medium or upload them to a remote server.

The feeding station 100 is used to stack a plurality of groups of packaging sleeves 920 stacked together. Each group of packaging sleeves 920 stacked at the infeed station 100 is wrapped with an outer packaging film. The groups of packaging sleeves 920 may be stacked at the feeding station 100 in multiple layers, each layer comprising a plurality of groups of packaging sleeves 920 arranged in an array, and the layers separated by spacers. In some cases, the uppermost set of packaging sleeves 920 may not be arranged in an array, but rather in an arbitrary orientation. The feeding station 100 may include a visual detection device for detecting the orientation of the grouped packaging sleeves 920 to facilitate the positioning of the grouped packaging sleeves 920 and the grasping of the grouped packaging sleeves 920 by the manipulator 300 .

In addition, the feeding station 100 may include a protective barrier 110 and a feeding safety door 120 . A protective barrier 110 isolates the feeding station 100 from the rest of the system and is movable between a closed position and an open position. In the closed position, the protective barrier 110 prevents the manipulator 300 from entering the feeding station 100 , and in the open position, the protective barrier 110 allows the manipulator 300 to enter the feeding station 100 . Since the protective baffle 110 in the closed position separates the operator from other parts of the system when the operator is replenishing materials, the safety of the operator is ensured and the safety of the system is improved. The feed safety door 120 is arranged on the periphery of the system (ie, the outer wall that isolates the system from the outside), through which the operator can replenish the feed from the outside of the system. For example, the controller 800 can be configured to control the feed safety door 120 to allow the feed safety door 120 to open only when the protective flap 110 of the feed station 100 is moved to the closed position. Therefore, the safety of the operator is further ensured through the configuration of the action of the feed safety door 120 and the protective baffle 110 .

The processing station 200 is used to process the group of packaging sleeves 920, which may include a positioning device 220 for sensing the orientation of the group of packaging sleeves 920, for turning the group of packaging sleeves 920 over to make them correct. Positioned overturning device 230, the film tearing device 210 that removes the outer packaging film from the packaging sleeve 920 in groups, and the dedusting device that dedusts the packaging sleeve 920 in groups after the outer packaging film is removed (not shown Shows).

The controller 800 is configured to control the manipulator 300 to take the grouped packaging sleeve 920 from the feeding station 100 to the processing station 200, and control the manipulator 300 to remove the grouped packaging sleeve 920 from the outer packaging film. The processing station 200 is provided into a packaging sleeve track 910 .

The buffer station 400 is also used for stacking groups of packaging sleeves 920 wrapped by the outer packaging film, and is used to replace the feeding station 100 when the operator performs a refilling operation at the feeding station 100 .

The controller 800 is further configured to control the protective flap 110 of the feeding station 100 to move to the closed position when receiving a user command indicating replenishment, and when the protective flap 110 is in the closed position, control the manipulator 300 to move from the buffer to the closed position. The station 400 takes the group of packaging sleeves 920; and when a user command is received indicating that the replenishment is completed, the guard flap 110 of the control feeding station 100 is moved to the open position, and the guard flap 110 is in the open position , the control manipulator 300 takes the packaging sleeve 920 in groups from the feeding station 100.

Therefore, by arranging the buffer station 400, the manipulator 300 can uninterruptedly take a group of packaging sleeves 920 from one of the buffer station 400 and the feeding station 100, thereby ensuring that when the operator replenishes the material, the The feeding to packaging sleeve feed rail 910 is performed without interruption. The controller 800 can be configured to take the grouped packaging sleeves 920 from the buffer station 400 only when the protective baffle 110 is moved to the closed position, instead of taking the grouped packaging sleeves 920 from the buffer station 400 until the buffering station 400. The number of groups of packaging sleeves 920 of the station 400 is less than a predetermined margin, eg 1 group. The quantity of the grouped packaging sleeves 920 stored in the buffer station is much smaller than the quantity of the grouped packaging sleeves 920 stored in the feeding station 100 . Moreover, the buffer station 400 does not need to be provided with a protective baffle 110 . Therefore, the footprint of the buffer station 400 is much smaller than that of the feeding station 100 .

The positioning device 220 (not shown in FIG. 1 ) is arranged near the turning device 230 and is configured to sense the orientation of the packaging sleeves 920 in groups. It includes, for example, an image sensor for identifying the On the packaging sleeve 920, for example, an action barcode or a code scanning gun for the identification of the barcode, etc. The overturning device 230 overturns the group of packaging sleeves 920 so that they are positioned correctly. For example, the flipping device 230 includes a guide mechanism so that the set of packaging sleeves 920 can only be positioned therein in two orientations. The positioning device 220 can sense the orientation of the grouped packaging sleeves 920 placed in the turning device 230, and when the sensing signal indicates that the grouped packaging sleeves 920 are correctly positioned, the manipulator 300 can transport them to Film removal device 210; when its sensing signal indicates that the grouped packaging sleeve 920 is not correctly positioned, the overturning device 230 makes the grouped packaging sleeve 920 turn over at 180∘; when its sensing signal indicates that it has been When the overturned set of packaging sleeves 920 is still not positioned correctly, it is determined that the set of packaging sleeves 920 cannot be positioned correctly. This operation of the positioning device 220 and the turning device 230 may be controlled by the controller 800 to be performed.

The film tearing device 210 is used to remove the outer packaging film from the packaging sleeve 920 in groups. For example, the film detaching device 210 may include a cutter part for tearing the outer packaging film and a suction part for removing the cut outer packaging film from the grouped packaging sleeve 920 . The outer packaging film can be cut into left and right parts or upper and lower parts by using the cutter part, and then each part of the outer packaging film can be removed by using the suction part. A specific example of the membrane tearing device 210 will be described in detail below.

The dedusting device is used for dedusting the grouped packaging sleeves 920 after the outer packaging film is removed, and it includes, for example, an erasing part for moving to wipe off dust and a dust suction part for absorbing dust. The dedusting device may be arranged near the film tearing device 210 or integrated with the film tearing device 210, so as to perform dust removal treatment on the packaging sleeves 920 in groups after the outer packaging films are removed. Specific examples of the dust removal device will also be described below.

The film collection station 500 is used to collect the outer packaging film removed from the grouped packaging sleeves 920, the defective product recycling station 600 is used to collect the grouped packaging sleeves 920 that cannot be correctly positioned at the turning device 230, and the separator paper recycling Station 700 is used to collect separator paper disposed between layers of pack sleeves 920 in groups of packaging sleeves 920 at infeed station 100 . For example, the film collection station 500 , defective product recycling station 600 and separator paper recycling station 700 may be respectively provided with devices for neatly placing or stacking collected outer packaging films, defective products and separator paper. In addition, for example, the film collection station 500, the defective product recycling station 600, and the spacer paper recycling station 700 can be respectively arranged at the outer periphery of the system, and are provided with openings that can allow operators to perform collection operations from the outside of the system, for example, can be provided with Openings with drawers or closed with pivoting doors. The operator can pull the drawer or open the door from the outside of the system to take the outer packaging film collected at the film collection station 500, or the defective products collected at the defective product recycling station 600, or the separator paper recycling station 700 for recycling. separator paper.

The controller 800 is configured to: control the manipulator 300 to take the separator paper from the feeding station 100 to the separator paper recycling station 700; Overturning device 230; control manipulator 300 takes the grouped packaging sleeve 920 that cannot be correctly positioned from overturning device 230 to the defective product recycling station 600; The packaging film arrives at the film collection station 500 ; the control manipulator 300 provides the grouped packaging sleeve 920 after the outer packaging film has been removed at the film tearing device 210 into the packaging sleeve material rail 910 .

In this embodiment, the processing station 200 further includes a transfer device, which transfers the grouped packaging sleeves 920 at the turning device 230 to the defilming device 210 . By providing the transfer device, it is helpful to reduce the operation burden of the manipulator 300 . However, the present disclosure is not limited thereto. In other embodiments, the controller 800 may control the manipulator 300 to transport the group of packaging sleeves 920 from the turning device 230 to the defilming device 210 . In other embodiments, other conveying operations of the manipulator 300 may also be performed by another transfer device instead.

The operations of the various devices in the system, for example, the turning operation of the turning device 230 and the operation of removing the outer packaging film of the film removing device 210 can be performed synchronously. By rationally configuring the manipulator 300 to transport the grouped packaging sleeves 920, the system can use the manipulator 300 to load materials faster than the speed at which the packaging box forming device can consume the packaging sleeves in the packaging sleeve rail 910. . Therefore, in addition to carrying out the transport operation of the packaging sleeve 920 in groups, the manipulator 300 can also replenish the packaging sleeves 920 in groups from the feeding station 100 to the buffer station 400 for replenishing the feeding station 100. use. For example, the system may also include a feed progress sensor (not shown) configured to sense the number of packaging sleeves in the packaging sleeve rail 910 and a feed progress sensor (not shown) configured to sense the number of packaging sleeves in the buffer station 400 that are wrapped with overwrap film. The number of groups of packaging sleeves 920 is cushioned by a number sensor (not shown). The controller 800 is configured to: when the quantity of the packaging sleeves in the packaging sleeve material rail 910 satisfies the first predetermined condition and the quantity of the grouped packaging sleeves 920 wrapped by the outer packaging film in the buffer station 400 satisfies the second predetermined condition When conditions are met, the control manipulator 300 takes from the feeding station 100 the packaging sleeves 920 wrapped by the outer packaging film in groups to the buffer station 400 .

In this embodiment, there are a plurality of packaging sleeve rails 910, and the plurality of packaging sleeve rails 910 are arranged side by side in the transverse direction H perpendicular to the feeding direction J and supply the packaging to the packaging box forming device in parallel. sleeve. The first predetermined condition is that a plurality of packaging sleeve rails 910 all include more than a first predetermined number of packaging sleeves, and the second predetermined condition is that the buffer station 400 includes less than a second predetermined number of groups wrapped by an outer packaging film. The packaging sleeve 920.

As shown in Figure 1, the buffer station 400 and the feeding station 100 are arranged side by side in the transverse direction H perpendicular to the feeding direction J, and are arranged opposite to the packaging sleeve material rail 910 in a direction parallel to the feeding direction J . The bases of the processing station 200 and the manipulator 300 are arranged side by side in the transverse direction H perpendicular to the feeding direction J, and are arranged between the packaging sleeve material rail 910 and the buffer station 400 and the feeding direction J in a direction parallel to the feeding direction J. Between 100 feed stations. In a transverse direction H perpendicular to the feed direction J, the base of the manipulator 300 and said feed station 100 are arranged opposite to the processing station 200 and the buffer station 400, respectively. That is to say, from the upper part of FIG. 1 to the lower part of FIG. 1, the packaging sleeve rail 910, both the processing station 200 and the base of the manipulator 300, and both the buffer station 400 and the feeding station 100 are sequentially arranged , wherein the processing station 200 and the buffer station 400 are on the left side of the first figure, and the base of the manipulator 300 and the feeding station 100 are on the right side of the first figure. The manipulator 300 is rotatably mounted to the base, which rotates about an axis perpendicular to the feed direction J and the transverse direction H. As shown in FIG. From the perspective of the motion track of the manipulator 300 , the feeding station 100 , the buffer station 400 , the processing station 200 and the packaging sleeve material rail 910 are sequentially arranged around the base on the motion track of the manipulator 300 . With the system arranged in this way, the movement path of the manipulator 300 is optimized, thereby reducing the movement load of the manipulator 300 and improving the operating efficiency of the system. In addition, since the buffer station 400 is closer to the processing station 200 on the trajectory of the manipulator 300, it is avoided that when the manipulator 300 takes the grouped packaging sleeves 920 from the buffer station 400 during feeding, the manipulator 300 and the protective stop plate 110 interference.

In addition, as shown in Figure 1, the film collection station 500 is arranged on the side of the base of the processing station 200 away from the manipulator 300 in the horizontal direction H, and the separator recycling station 700 is arranged in the buffer station 400 in the horizontal direction H. On the side away from the feeding station 100, the film collecting station 500, defective product recycling station 600 and spacer paper recycling station 700 are arranged in sequence near the outer periphery of the system in a direction parallel to the feeding direction J. That is to say, from the upper part of FIG. 1 to the lower part of FIG. 1, at the outer periphery of the left side of the system, a film collection station 500, a defective product recycling station 600 and a separator recycling station 700 are arranged in sequence. Since the film collection station 500 and the defective product recycling station 600 are arranged close to the processing station 200, and the paper recycling station 700 is arranged near the buffer station 400 and the feeding station 100, it is convenient to collect the corresponding articles at the corresponding stations. Improve the operating efficiency of the system. In addition, since the film collecting station 500, defective product recycling station 600, and spacer paper recycling station 700 are arranged at the outer periphery, the operator can conveniently pick up the corresponding items collected at the corresponding stations from the outside.

Figure 3 shows a schematic diagram of the end execution part of the manipulator 300 of the packaging sleeve automatic feeding system according to an embodiment of the present disclosure, and Figure 4 shows a packaging sleeve automatic feeding system according to an embodiment of the present disclosure. A schematic diagram of the first end effector 310 of the manipulator 300 of the feeding system.

As shown in FIG. 3 and FIG. 4 , the end effector of the manipulator 300 includes a first end effector 310 and a second end effector 320 . For example, the first end effector 310 is used to provide the grouped packaging sleeve 920 with the outer packaging film removed from the processing station 200 (for example, at the film removal device 210 or the dust removal device) to the packaging sleeve rail 910 . The second end effector 320 is used to perform other transport operations in addition to providing the group of packaging sleeves 920 from the processing station 200 to the packaging sleeve rail 910, for example, transferring the group of packaging sleeves 920 from the infeed station 100 Take to processing station 200 etc. Both the first end effector 310 and the second end effector 320 are mounted to the base of the end of the mechanical arm of the manipulator 300, and the controller 800 can control the manipulator 300 to move between the first end effector 310 and the second end effector 320. switch between. For example, the first base 311 of the first end effector 310 and the second base 321 of the second end effector 320 are mounted at an angle to the base of the end of the robotic arm by rotating the base of the end of the robotic arm to Switching between the first end effector 310 and the second end effector 320 .

The second end effector 320 includes a suction cup 322 that can be sucked onto the set of packaging sleeves 920 to transport the set of packaging sleeves 920 . At the film detaching device 210 , the suction cup 322 of the second end effector 320 can also be used to transfer the cut outer packaging film to the film collection station 500 . The second end effector 320 is not limited to the form of a suction cup, and may also include jaws and the like.

As shown in FIG. 4 , the first end effector 310 includes a first base 311 , a pair of jaws 312 , a pusher 313 and a puller 314 . The pair of jaws 312 , the pusher 313 and the puller 314 are mounted to the first base 311 . The pair of jaws 312 extends in a first direction Y relative to the first base 311 and is configured to move between a gripping position and a release position in a second direction X perpendicular to the first direction Y to grip groups of The sleeve 920 is packed so that it moves. Since the pair of jaws 312 extends in the first direction Y and exerts a gripping force in the second direction X, the pair of jaws 312 can prevent the set of packaging sleeves 920 from which the outer packaging film has been removed. spread out, thereby securely gripping groups of packaging sleeves 920 . The pushing member 313 has a pushing surface perpendicular to the first direction Y, and the pulling member 314 is configured to move in the first direction Y. The supplied set of packaging sleeves 920 can be pressed against the existing packaging sleeves in the packaging sleeve rail 910 in the feed direction J by means of the pusher 313 and the puller 314 and the shutter press block 911 is pressed against the packaging sleeve at the end far away from the packaging box forming device.

FIG. 5A to FIG. 5C show schematic diagrams of the operation of the first end effector 310 of the manipulator 300 of the packaging sleeve automatic feeding system according to an embodiment of the present disclosure. The manipulator 300 and its first end effector 310 can perform the following steps to provide groups of packaging sleeves 920 from the processing station 200 to the packaging sleeve material rail 910: Step S11, the manipulator 300 moves the first base 311 Align the first direction Y with the stacking direction of a plurality of packaging sleeves in the group of packaging sleeves 920; step S12, a pair of clamping jaws 312 grip the group of packaging sleeves 920 and place the group of packaging sleeves 920 is placed on the packaging sleeve material rail 910 so that the stacking direction of a plurality of packaging sleeves in the grouped packaging sleeve 920 is aligned with the feeding direction J of the packaging sleeve material rail 910; step S13, when the grouped packaging sleeve 920 is placed on the packaging sleeve material rail 910, the pusher 313 pushes the grouped packaging sleeve 920 in the stacking direction; and step S14, when the pusher 313 pushes the grouped packaging sleeve 920, the pulling member 314 The gate block 911 pulling the packaging sleeve rail 910 moves in the stacking direction (in this case aligned with the feed direction J and the first direction Y) until near the push face of the pusher 313 and then releases the gate block 911. In this embodiment, the pulling member 314 is a pair of hook-shaped elements engageable with the gate pressing block 911 , which are respectively fixed to the pair of jaws 312 . The pair of jaws 312 is connected to a driving source 316 such as a driving motor through a connecting piece 315. The driving source drives the pair of jaws 312 to move in the first direction Y through the connecting piece 315, and then drives the pulling member 314 in the first direction Y. Move in direction Y. The pulling member 314 further drives the gate pressing block 911 to move toward the pushing member 313 in the first direction Y until near the pushing member 313 . As shown in Fig. 3, Fig. 4, Fig. 5A and Fig. 5B, in step S13 and step S14, the pusher 313 uses its push surface to push the grouped packaging sleeve 920 in the stacking direction so that it abuts against The original packaging sleeve is on the packaging sleeve material rail 910 , and at the same time, the pulling member 314 pulls the gate pressing block 911 toward the endmost packaging sleeve in the first direction Y. The gate pressing block 911 is pivotably mounted to the packaging sleeve rail 910 and is configured to pivot about an upright direction Z perpendicular to the feed direction J to a position where it stops pressing the packaging sleeve when pulled by the pulling member 314 . As shown in FIG. 5C , in step S14 , the pulling member 314 finally pulls the gate pressing block 911 to the vicinity of the pushing surface of the pushing member 313 , and then releases the gate pressing block 911 . After the release, the shutter block 911 will be re-pressed onto the renewed endmost packaging sleeve, for example due to the restoring force of a resilient member such as a spring. The controller 800 may be configured to control the first base 311 , the pair of jaws 312 , the pushing member 313 and the pulling member 314 of the first end effector 310 to perform the above operations.

In addition, the first end effector 310 can also be provided with various sensors, for example, for sensing the sense that the first end effector 310 is in place on the packaging sleeve material rail 910 together with a group of packaging sleeves 920 . sensor, a sensor for sensing the position of the pulling member 314, a sensor for sensing the position of the pushing member 313, and the like. The controller 800 can receive signals from various sensors to control corresponding components to perform the above operations.

In other embodiments, the first end effector 310 may also have other configurations. For example, the first end effector 310 has only jaws that provide groups of packaging sleeves 920 to the packaging sleeve rail 910 by cooperating with other components of the packaging sleeve rail 910 .

Fig. 6 shows a schematic top view of an automatic feeding system for packaging sleeves according to another embodiment of the present disclosure. For each component in Figure 6, reference can be made to the description of the packaging sleeve automatic feeding system shown in Figure 1 to Figure 5C. Different from the automatic feeding system for packaging sleeves in Fig. 1, the automatic feeding system for packaging sleeves in Fig. 6 includes two feeding stations 100a, 100b instead of a buffer station. The feeding station 100a includes a feeding safety door 120a and the feeding station 100b includes a feeding safety door 120b. Neither of the two feeding stations 100a, 100b is provided with protective baffles. The manipulator 300 may take the grouped packaging sleeves 920 from another feeding station 100a, 100b after taking the grouped packaging sleeves 920 at one feeding station 100a, 100b. The two feeding stations 100a, 100b can be fed alternately. When the manipulator 300 takes a group of packaging sleeves 920 from a specific feeding station 100a, 100b, the feeding safety door 120a, 120b of this feeding station 100a, 100b cannot be opened.

At least one embodiment of the present disclosure also provides an automatic feeding method for packaging sleeves, which is used to provide groups of packaging sleeves to a packaging sleeve material rail. This method can be implemented, for example, using the automatic feeding system for packaging sleeves as described above.

In some embodiments, the method includes: step S21, using the manipulator 300 to take a group of packaging sleeves 920 from the feeding station 100 to the turning device 230 of the processing station 200; step S22, using the positioning device 220 to sense The orientation of the packaging sleeves 920 in groups, and when sensing that the orientation of the packaging sleeves 920 in groups is incorrect, utilize the overturning device 230 to make the packaging sleeves 920 in groups overturn to correct positioning; step S23, utilize mechanical Hand 300 or overturning device 230 will transport the grouped packaging sleeve 920 of correct positioning to the film removal device 210; step S24, utilize the film removal device 210 to remove the outer packaging film from the grouped packaging sleeve 920; and step S25 , using the manipulator 300 to provide the group of packaging sleeves 920 from the processing station 200 to the packaging sleeve material rail 910 after the outer packaging film has been removed.

In addition, the method may also include: using the manipulator 300 to take the separator paper from the feeding station 100 to the separator paper recycling station 700; using the manipulator 300 to take the grouped packaging sleeves that cannot be correctly positioned from the turning device 230 920 to the defective product recycling station 600;

In addition, the method also includes: in response to a user command indicating refilling, moving the protective shutter 110 of the feeding station 100 to a closed position; The protective flap 110 moves to the open position. The method utilizes the manipulator 300 to take groups of packaging sleeves 920 from the buffer station 400 while the guard flap 110 is in the closed position. When the protective flap 110 is in the open position, the group of packaging sleeves 920 is picked up from the feeding station 100 by the manipulator 300 . The automatic packaging sleeve feeding system may include a user interface for interacting with an operator. This user interface can receive user commands from an operator and, for example, can send operating prompts to the operator. The user interface may include a keyboard, buttons, a display panel (eg, a touch screen), and the like.

In addition, the method also includes: sensing the quantity of packaging sleeves in the packaging sleeve material rail 910 with a feeding progress sensor; The quantity of the packaging sleeve 920 of group; And when the quantity of the packaging sleeve in the packaging sleeve material rail 910 meets the first predetermined condition and the quantity of the grouped packaging sleeve 920 wrapped by the outer packaging film in the buffer station 400 When the second predetermined condition is met, the manipulator 300 is used to take the group of packaging sleeves 920 from the feeding station 100 to the buffer station 400 .

Furthermore, in this method, the set of packaging sleeves 920 from which the overwrap film has been removed is provided from the processing station 200 to the packaging sleeve rail 910 using the first end effector 310, and the second end effector 320 takes groups of packaging sleeves 920 from the infeed station 100 to the processing station 200. The method also includes switching between the first end effector 310 and the second end effector 320 . The above steps can be performed in the stated order, in other orders or in parallel if there is no contradiction.

Fig. 7 is a structural schematic diagram of Example 1 of a film removal device in an automatic feeding system for a packaging sleeve according to an embodiment of the present disclosure; Fig. 8 is a side view structural schematic diagram of the film removal device shown in Fig. 7; Fig. 9 The figure is a schematic top view structure diagram of the film removal device shown in FIG. 7 . For example, in Figures 7 to 9, for ease of description, the first direction is parallel to the vertical direction and perpendicular to the horizontal direction; for example, when describing Figures 7 to 9, the material refers to the above-mentioned A set of packaging sleeves covered with an outer packaging film. The membrane tearing device shown in FIGS. 7 to 9 is an example of the membrane tearing device 210 described above.

Referring to Figures 7 to 9, the film removal device includes: a feeding channel a1, a feeding element a2, a support element a3 and a stopper element a4, the feeding channel a1 extends along the first direction, and the feeding channel There is a cutting station in a1, for example, in the vertical direction, a lower position in the feeding channel a1 is set as a cutting station; the feeding element a2 includes: a carrier plate located in the feeding channel a1 and moving along the first direction a21, and a first drive mechanism for driving the carrying plate a21 to move in the first direction, the carrying plate a21 is used to carry the material and support the surface to be cut of the material, the carrying plate a21 carries the material and can move up and down in the vertical direction, Transfer the material to the cutting station or move the material upward from the cutting station to facilitate the removal of the material from the feeding channel; wherein, a support element a3 is set at the cutting station, for example, two support elements a3 are provided, and the two support elements a3 They are respectively arranged on opposite sides of the feeding channel a1, and arranged along the second direction in the horizontal direction. Each supporting element a3 includes a supporting surface, and the two supporting surfaces are respectively located on the opposite sides of the feeding channel a1. The two supporting surfaces are arranged at intervals along the second direction, the bearing plate is located between the two supporting surfaces, and the two supporting surfaces are flush with each other and have the same height in the vertical direction, and the two supporting surfaces are used to respectively support the surface to be cut of the material When the material is located at the cutting station, the material is just supported on the two support surfaces; a limiter element a4 is set around the feeding channel and above the support surface, and the limiter element a4 includes The stopper guide a41 located on the side of the feeding channel a1, the stopper guide a41 is located on the side of the support surface facing the cutting station, the stopper guide a41 can move the material up and down around the feeding channel a1 To guide, and at least one set of limiter guides a41 on the opposite sides in the surrounding side of the feeding channel a1 is a limiter pressing part, and each limiter pressing part is connected with a second driving mechanism a42, the second The second drive mechanism a42 is used to drive the position-limiting pressing member to move towards or away from the material. When the material is at the cutting station, the two oppositely-set pressing members of the limiter can move towards the material until the material is clamped. Fixed material, is convenient to carry out follow-up cutting work; For example, cutting element a5 is positioned at below the support surface, and cutting element a5 comprises: the cutter element a51 that is positioned at the support surface away from the side of cutting station, and is used to drive cutter element a51 along the first The third driving mechanism of the three-direction action, the third direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction, that is, the third direction is a direction perpendicular to the second direction in the horizontal direction, and the cutting knife The element a51 is used to be opposite to the surface to be cut of the material and cut the outer packaging film of the material, the extension direction of the interval between the two support surfaces is parallel to the third direction, and the cutter element a51 can be spaced between the two support surfaces The exposed part of the material in this interval is precisely cut along the third direction, so that the outer packaging film of the material is cut.

As mentioned above, for the detaching device shown in Figs. It is a plastic film, such as a PE film. For example, the working process of the above-mentioned film removal device is described as follows: The carrying plate a21 moves upwards in the feeding channel under the drive of the first driving mechanism, and stops at a position close to the opening above the feeding channel a1, and puts materials into the opening above the feeding channel a1, and the surface to be cut of the material Facing down, placed on the loading plate a21, the material enters the feeding channel, and there is a limiter guide a41 around it to limit the horizontal direction of the material and play a guiding role in the vertical direction. The loading plate a21 carries the material and moves downward. When moving to the cutting station, the width of the interval between the two support surfaces is smaller than the width of the material in the second direction, and the bearing plate a21 continues to move downward at the interval between the two support surfaces, and the material is supported by the two The surface is supported on the cutting station, and the two supporting surfaces respectively support the edge of one side of the material, and the carrying plate a21 moves downward for a certain distance to avoid the space for the cutting operation of the cutter element a51, wherein at least the surrounding The two stopper guides a41 in the second direction in the stopper guide a41 are set as stopper pressing parts, and the stopper pressing parts are pressed against the material under the drive of the second driving mechanism a42, Two relative limiter pressing parts clamp and fix the material. At this time, the cutter element a51 of the cutting element a5 is in the initial position, and the cutter element is located on one side of the material in the third direction, and the cutter element a51 is at the first position. Driven by the three driving mechanisms to move along the third direction, the cutter element a51 cuts the outer packaging film of the surface to be cut of the material under the material and in the interval between the two supporting surfaces, and cuts to the other side of the material After one side, the outer packaging film on the bottom side of the material is split, and then returned to the initial position driven by the third driving mechanism, and the stopper pressing parts on both sides of the material move away from the material to loosen the material , and then pull the outer packaging film on the outside of the material to both sides along the second direction, so that the outer packaging film on both sides is away from the material itself, or the stopper pressing parts on both sides of the material move in a direction away from the material After the material is loosened, firstly, the carrying plate a21 moves upwards to contact the material with a gap at the bottom of the outer packaging film, moves the material upward slightly, and lifts the material upward slightly away from the support surface, and then moves the outer packaging film on the outer side of the material to both sides along the second direction. pull the outer packaging film on both sides away from the material itself, and then pull up the outer packaging film from the top side above the material and separate it from the material itself, so that the outer packaging film can be removed, and then, the carrying plate a21 moves upward , lift the material up, and output the material with the outer packaging film removed from the upper opening of the feeding channel a1, and complete the removal of the outer packaging film of the material.

In the above film removal device, the material is conveyed in the feeding channel a1 by the feeding element a2, and the material is clamped and fixed by the stopper element a4 at the cutting station, and the cutting element a5 performs precise cutting under the material, and the outer packaging of the material The film is cracked, so that the outer packaging film can be easily removed. The removal process of the outer packaging film of the material is simple and reliable, which reduces the manual work intensity, and the film removal device is mechanized to remove the outer packaging film, which has high work efficiency and saves time and effort. , which is conducive to improving the production efficiency of the production line.

It should be noted that the above-mentioned film removal device also includes a work frame, the above-mentioned feeding element a2, support element a3, stopper element a4, and cutting element a5 are all installed on the work frame, and the work frame supports and connects role.

In the above-mentioned film removal device, in order to increase the stability of the material limit during cutting, limit pressing members can be respectively provided on both sides of the feeding channel a1 along the second direction, and in the feeding channel a1 along the third direction Limiting pressing parts are also provided on both sides upward, so that the material can be completely fixed in the horizontal direction, which can increase the stability of the material at the cutting station and facilitate the improvement of the cutting accuracy of the cutting work.

For example, for the setting of the first driving mechanism, the first driving mechanism may include a lifting rod extending in the vertical direction, and a first power element connected with the lifting rod and used to drive the lifting rod to move up and down, and the bearing plate a21 is installed on the lifting rod and in order to ensure the stability of the loading plate, a plurality of elevating rods are arranged in parallel distribution, and the top ends of the multiple elevating rods are connected with the loading plate a21 to jointly support the loading plate a21 to improve the stability of the loading plate a21, wherein, the first power The elements may include, for example, cylinder elements.

Next, for the setting of the second driving mechanism, the second driving mechanism may include a push rod connected with the stopper pressing part, one end of the push rod is connected with the stopper pressing part, and the other end is connected with the second power element, The second power element can also be a cylinder element, and the cylinder drives the clamping part of the limiter to move forward or backward to clamp or loosen the material. The action is fast and accurate, which is conducive to improving work efficiency.

In addition, for the setting of the third drive mechanism, the third drive mechanism may include a first guide rail, a sliding block installed on the first guide rail, and a transmission connection with the sliding block and used to drive the sliding block along the first guide rail. The third sliding power element, the first guide rail is extended along the third direction, and the first guide rail is located under one of the support surfaces, and the first guide rail can be directly below the support surface, or it can be loaded on the support surface On the outside of the channel, the first guide rail is provided with a sliding block, which is connected with an extension plate extending towards the interval between the two supporting surfaces, and the cutter element a51 is installed on the extension plate so that the cutter element a51 can reach Below the interval between the two support surfaces, it is convenient to cut the surface of the material to be cut.

For example, in the third direction, at least one side corresponding to the initial position of the cutter element a51 in the feeding channel a1 is provided with a flaring element a6, and the flaring element a6 includes: used to wrap the outer packaging film on the side of the material along the second The expansion element a61 expanding in the direction, the fourth driving mechanism a62 for driving the expansion element a61 to move in the third direction, and the fifth driving mechanism a63 for driving the expansion element a61 to move in the first direction, when the material is wrapped in the outer packaging film For example, a plurality of packaging sleeves are stacked together. When packaging, the outer packaging film will leave a gap at both ends of the stacking direction, which is convenient for the outer packaging film to be opened. Wherein, the disassembly of the material in this embodiment When cutting and unpacking in the film device, the stacking direction of the packaging sleeve in the material is parallel to the third direction, that is, the crack on the outer packaging film is in the third direction, and the opening is set on the side of the initial position of the cutter element a51. The element a61 and the unfolding element a61 can approach the material under the drive of the fourth driving mechanism a62 before the cutter element cuts, and align with the rip of the outer packaging film, and the unfolding component a61 stretches into the rip of the outer wrapping film to close the rip The outer packaging film at the position expands outward along the second direction, stretching the slit and tearing it larger, and then, driven by the fifth driving mechanism a63, the expansion element a61 moves downwards, and the slit is stretched downwards all the way , until it is opposite to the cutter element in the vertical direction, so that the cutter element a51 can cut the outer packaging film on the side of the gap, and then the cutter element a51 can start cutting at the gap on the side of the material on the side of the initial position, and the The cutting opening on the surface of the material to be cut is connected with the side slit, that is, the side of the slit and the bottom side of the material are all split, so that the outer packaging film is easier to separate from the material itself, and the bottom cutting is more accurate and thorough.

For example, the above-mentioned fourth driving mechanism may include a cylinder element, which includes a cylinder body and a piston rod, and the piston rod can expand and contract along the third direction, and the unfolding element can be installed on the free end of the piston rod, and can move freely in the third direction. Action of the piston rod. For example, the fifth driving mechanism can also be provided with a cylinder element, and this cylinder element can be a rodless cylinder element, and this rodless cylinder element includes a cylinder body with a track on it, and an extension along the track is installed on the cylinder body. For example, the extension direction of the track of this rodless cylinder is set along the vertical direction, and the piston block moves up and down along the vertical direction, and the fourth driving mechanism is installed on the piston block through the connecting plate, so that the expansion element and The fourth driving mechanism can move up and down as a whole.

For example, for the arrangement of the spreading elements, the spreading element a61 may include two spreading parts a611 that can approach or move away from each other along the second direction, and a sixth driving mechanism for driving the moving of the spreading parts, preferably, the sixth driving mechanism A jaw cylinder may be included, the jaw cylinder includes a cylinder body and two jaws mounted on the cylinder body, the two jaws can approach or move away from each other along the second direction, and each jaw is connected with a spreading member, so that the unfolding The parts can expand the gap on the outer packaging film, which is very convenient and fast.

For example, the above-mentioned flaring element a6 can be provided with two, and the flaring element a6 is arranged on both sides of the feeding channel a1 in the third direction, so that the two rips of the outer packaging film of the material can be expanded and stretched before cutting After cutting, the slits on the two sides of the material are connected with the cutting opening of the outer packaging film on the bottom surface to form a larger opening, which is convenient for removing the outer packaging film from the material itself.

On the basis of the structure of the above-mentioned film removal device, as shown in Figure 10, the cutter element a51 can include a cutter a511, and the cutter is provided with a contact block a512 for contacting with the material on the side facing the support surface, and the contact block The end of a512 in the same direction as the blade of the cutting knife a511 exceeds the blade to form a protruding part. The free end of the protruding part is a "V"-shaped structure, and the tip of the "V"-shaped structure is set in the same direction as the blade of the cutting knife. The tip of the cutting knife can be inserted between the outer packaging film and the material at the front to hook the outer packaging film. When the cutter element continues to move forward, the blade of the cutter will contact the outer packaging film and cut the hooked outer packaging film. Open, accurate and fast, which is conducive to ensuring cutting accuracy.

In addition, in order to facilitate the smooth separation of the outer packaging film from the material itself after cutting, as shown in Figure 7, the above-mentioned film removal device is also provided with two film separating elements located on opposite sides of the feeding channel a1 in the second direction a7, each film separating element a7 includes a grabbing element a71 for grabbing the cut outer packaging film and a seventh drive mechanism for driving the grabbing element a71 to move away from or close to the feeding channel a1, in the first direction, the grabbing element a71 is located between the supporting surface and the limiter guide a41, for example, the grabbing element a71 can be a suction cup element a711, and each suction cup element a711 can include at least two distributed along the third direction. Vacuum suction cup, when the outer packaging film on the surface to be cut of the material is cut, driven by the seventh drive mechanism, the suction cup element a711 is close to the material, and the vacuum suction cup sucks air, and the outer packaging film on both sides of the material in the second direction The packaging film is sucked, and then, driven by the seventh driving mechanism, the sucked outer packaging film can be pulled outward, away from the material itself, and then the outer packaging film is released, and then the outer packaging film on the side and the material itself separate for subsequent removal of the outer packaging film from the top side.

As an implementable manner, each seventh driving mechanism may include a connecting shaft extending along a third direction and a plate member rotatably connected with the connecting shaft, and a driving connection with the plate member for driving the plate member to rotate around the connecting shaft. The fourth power element that rotates the shaft, the connecting shaft and the plate are located on one side of the feeding channel in the second direction, the upper edge of the plate is rotatably connected with the connecting shaft, and when the plate rotates around the connecting shaft, the plate The lower edge of the plate can be far away from or close to the feeding station, wherein the vacuum suction cup can be installed on the side of the plate facing the feeding channel, and at the position close to the lower edge of the plate, the fourth power element drives the plate around When the connecting shaft rotates, the board can be moved closer to the material so that the vacuum suction cup can grab the outer packaging film, or the board can be lifted away so that the vacuum suction cup can grab the outer packaging film and keep away from the material itself. The action is simple, accurate, stable and reliable, which is beneficial Improve work efficiency.

For example, in order to better support the material and remove the outer packaging film more easily, the support surface can be provided with a movable support surface. For example, as shown in Figure 8, each support element a3 includes a support plate a31 , and an eighth drive mechanism a32 for driving the support plate a31 to move in the second direction, the top surface of the support plate a31 forms a support surface, and the support plate a31 can approach or move away from the feeding channel along the second direction. On the one hand, it can Adjusting the interval width between the two support plates can adjust the support width of the edge of the material to better support the material. On the other hand, when the outer packaging film on the surface to be cut is cut, it is necessary to Before the outer packaging film is pulled away from the material itself, the loading plate rises up to support the material. At this time, the two support plates can be kept away from the material. If the material is not supported, the outer packaging film on the bottom side and at the edge of the material side will not press On the support plate, it is completely away from the support plate, so as to prevent the support plate from hindering the outer packaging film from being pulled up, so that the outer packaging film on both sides can be pulled up more easily, which is conducive to improving work efficiency.

Generally, during the process of cutting and removing the outer packaging film, debris may be generated, and the material itself may have some dust. After the outer packaging film is removed, the material itself can be dedusted. For example, as shown in Figure 9, it corresponds to dismantling Membrane device is equipped with dust removal device, dust removal setting: dust removal plate a8 located on the side of the limiter guide a41 away from the support element a3, and the top dust removal element installed on the side of the dust removal plate a8 away from the limiter guide a41, dust removal plate a8 There is an opening a81 opposite to and communicating with the feeding channel a1, for example, the top dust removal element includes: a dust suction part a82, and a ninth drive mechanism a84 for driving the dust suction part a82 to move along the extension direction of one side of the opening a81 , and the ninth driving mechanism can be provided with a second guide rail a841 extending along the side of the opening parallel to the third direction, and a moving block slidingly connected with the second guide rail is installed on the second guide rail, and the dust suction part is installed on the moving block, and the moving block is connected to the fifth power element, and the fifth power element drives the moving block to move along the second guide rail, so that when the loading plate lifts the material up, and makes the material flush with the top surface of the dust collection board When the time stops, the dust suction part a82 moves along the side of the opening with the movement of the moving block, and vacuums the top of the material to remove dust and debris on the top of the material. For example, in Figure 9, the dust removal device and the film removal device are integrated. For example, the dust removal device shown in FIG. 9 is an example of the dust removal device included in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure.

In addition, as shown in Figure 9, the dust removal plate a8 is also provided with a ventilation slot a83, and the ventilation slot a83 is connected with a bottom dust suction element, which lifts up the material after the outer packaging film has been removed, and after taking it out, put the material on the dust removal plate The top surface of a8 moves and can pass through the ventilation groove a83, so that the bottom dust suction element can vacuum the bottom of the material, so as to remove the miscellaneous dust and debris at the bottom of the material, and further increase the dust removal effect on the material.

On the basis of the structure of the above-mentioned film removal device, as shown in Figure 9, corresponding to the film removal device, a flipping element a9 and an imaging element are also provided. In addition, the overturning frame for carrying materials and the driving assembly for driving the rotation of the overturning frame, the rotation axis of the overturning frame is perpendicular to the first direction, the rotation axis of the overturning frame can be arranged parallel to the second direction, and the imaging element It is set on the peripheral side of the reversing frame and is used to detect the preset mark on the material. The preset mark can be a mark on the packaging sleeve in the material. When the material is placed on the reversing frame, the camera element identifies the packaging sleeve If the preset mark is the positive direction specified in the work, there is no need to turn over the material, and the material can be taken out directly and placed at the entrance of the feeding channel. At this time, the surface to be cut is facing downward. Assuming that the logo is the reverse direction specified in the work, the driving component drives the flip frame to rotate, so that the preset logo becomes positive, that is, the material is reversed, so that the material can enter the feeding direction with the side to be cut facing downward. channel to avoid cutting mistakes on the outer packaging film of the material. For example, the reversing element a9 is an example of the reversing device 230 shown in FIGS. 1 and 2 . For example, the imaging device is an example of the visual positioning device 220 shown in FIGS. 1 and 2 .

For example, corresponding to the above-mentioned film removal device, a scanner is also provided on the peripheral side of the flip frame and used to detect the identification code on the material. The scanner can scan and record the action barcode or barcode on the packaging sleeve in the material, Or scan and record the identification code attached or sprayed on the outer packaging film, and record the cut materials.

In addition, corresponding to the above-mentioned film removal device, as shown in Figure 9, a collection box a10 for collecting the removed outer packaging film is also provided near the feeding channel, so as to facilitate the collection of the removed outer packaging film and avoid polluting the working environment. For example, the collection box a10 is provided in the film collection station 500 shown in FIGS. 1 and 2 .

Fig. 11 to Fig. 23 show Example 2 of a film removal device in an automatic packaging sleeve feeding system according to an embodiment of the present disclosure. For example, in these drawings, the first direction is parallel to the upright direction and perpendicular to the horizontal direction, the plane formed by the second direction and the third direction is a horizontal plane, and the first direction, the second direction and the third direction are all perpendicular to each other ; For example, when describing the 11th figure to the 23rd figure, the material refers to the grouped packaging sleeve covered by the outer packaging film as described above. The membrane tearing device of FIGS. 11 to 23 is another example of the membrane tearing device 210 described above.

As shown in Figure 11 to Figure 18, the film removal device is used to remove the outer packaging film of the material, including: a feed channel b1 extending along the first direction, the feed channel b1 has a feed port b11, and the feed channel b1 has a first cutting station and a second cutting station located at the feed port b11; The film opening mechanism b2, the film opening mechanism b2 includes: two first cutting elements b21 located at the first cutting station, the two first cutting elements b21 are arranged opposite to each other along the second direction, and the first direction is perpendicular to the second direction; Two first drive assemblies b22 are provided corresponding to the two first cutting elements b21, and in each pair of first drive assemblies b22 and first cutting elements b21 corresponding to each other, the first drive assembly b22 drives the first cutting element b21 Moving along the first path a0, the first driving assembly b22 drives the first cutting element b21 to move along the second path b0, the first path a0 and the second path b0 include an overlapping portion s0, and the overlapping portion s0 is parallel to the first direction; the first The path a0 also includes a first part a10 connected to the overlapped part s0, the second path b0 also includes a second part b10 connected to the overlapped part s0, and the angle formed by the first part a10 and the second part b10 opens toward the feed inlet b11 The included angle of the direction is less than 180∘; The film opening mechanism b2 also includes: a second cutting element b23 located at the second cutting station, and a second drive assembly b24 for driving the second cutting element b23 to move along the second direction; wherein, the second cutting element b23 includes a cutter portion b231 and the adsorption part b232, the adsorption part b232 is used to absorb the outer packaging film so that there is a gap between the material and the outer packaging film, and the second driving component b24 drives the cutter part b231 to move along the second direction.

It should be noted that the above-mentioned film removal device includes a feed channel b1 with a feed b11 port, the feed channel b1 extends along the first direction, the feed channel b1 has a first cutting station and a second cutting station, and the material is placed in the At the feed port b11, the film opening mechanism b2 includes two first cutting elements b21, two first driving assemblies b22 corresponding to the two first cutting elements b21, a second cutting element b23, and a device for driving the second cutting element b23. The second driving assembly b24, the two first cutting elements b21 located in the first cutting station are arranged along the second direction, the first direction is perpendicular to the second direction, the first driving assembly b22 drives the first cutting element b21 to move the material The opposite two sides of the outer packaging film are cut, for example, in each pair of first drive assembly b22 and first cutting element b21 corresponding to each other, at first the first drive assembly b22 drives the first cutting element b21 along the first path a0 moves, and then the first driving assembly b22 drives the first cutting element 21 to move along the second path b, the first path a0 and the second path b0 include an overlapping portion s0, and the overlapping portion s0 is parallel to the first direction, by the first driving The component b22 drives the movement process of the first cutting element b21 to complete the cutting of the outer packaging film side of the material. The first path a0 also includes the first part a10 connected to the overlapping part s0, and the second path b0 also includes the first part a10 connected to the overlapping part s0. In the second part b10 of the first part a10 and the second part b10, in the angle α formed by the first part a10 and the second part b10, the angle between the opening facing the direction of the feed inlet is less than 180∘, that is to say, the two opposite sides of the outer packaging film of the material along the second direction The sides are cut into a "Y" shape by the first cutting element. The film opening mechanism b2 also includes a second cutting element b23 located at the second cutting station. The second drive assembly b24 drives the second cutting element b23 to move along the second direction. The second cutting element b23 includes a cutter part b231 and an adsorption part b232 , the adsorption part b23 ensures that there is a gap between the outer packaging film and the material at the position where the cutter part b231 acts, and the second drive assembly b24 drives the cutter part b231 to move the two opposite sides of the outer packaging film of the material along the second direction The top connection surface between them is cut to form a third path c0 on the connection surface. Since the adsorption part b232 is used to absorb the outer packaging film so that there is a gap between the material and the outer packaging film, the cutting of the outer packaging film using the cutter part b231 can achieve precise cutting without damaging the inner packaging sleeve and the outer packaging of the material The removal process of the film is simple and reliable, reducing the intensity of manual work, and the film removal device is mechanized to remove the outer packaging film, which has high work efficiency, saves time and effort, and is conducive to improving the production efficiency of the production line.

For example, the film opening mechanism b2 further includes: a suction cup element b25 located at the second cutting station, and the suction cup element b25 is used to absorb the outer packaging film so that there is a gap between the material and the outer packaging film. The outer packaging film is sucked by the suction cup component b25 so that there is a gap between the material and the outer packaging film, so that when the second cutting component b23 is used to cut the outer packaging film, the material can be effectively protected.

For the convenience of understanding, regarding the "Y" after cutting the two opposite sides of the outer packaging film of the material, refer to Figure 14 to Figure 15, when the material is put into the feeding port b11, the first driving component b22 drives the first cutting The element b21 acts to cut the two opposite sides of the outer packaging film of the material. The first drive assembly b22 drives the first cutting element b21 to cut along the first path a0 and the second path b0 successively. Because the first drive assembly b22 and the first cutting element b21 are both two, and among the two pairs of correspondingly arranged first driving assemblies b22 and first cutting elements b21, each pair of corresponding first driving assemblies b22 and first cutting elements b21 can act simultaneously, It can also be operated separately. Of course, when the two first driving components b22 simultaneously drive the first cutting element b21 to act, the cutting efficiency of the outer packaging film of the material is higher.

As shown in Figure 17 and combined with Figure 18, the working process of the second cutting element b23 is as follows: the second drive assembly b24 drives the cutter part b231 and the adsorption part b232 in the second cutting element b23 to act together, because the adsorption part The existence of b232 makes there is a gap between the outer packaging film of the material and the packaging sleeve, so that the cutting of the outer packaging film with the cutter part b231 will not damage the inner packaging sleeve, and the removal process of the outer packaging film of the material is simple and reliable. The manual work intensity is reduced, and the film removal device is mechanized to remove the outer packaging film, which has high work efficiency, saves time and effort, and is conducive to improving the production efficiency of the production line. For example, the second drive assembly b24 is a structure that can provide driving force such as an electric cylinder or a slide rail slider. The second drive assembly b24 drives the cutter part b231 to move from the middle of the material to one side along the second direction, and then returns to the In the middle, the cutter part b231 is turned over 180∘, and then cut from the middle to the other side. For example, the structure for turning the cutter part b231 over 180∘ can be a motor, and the forward and reverse rotation of the motor realizes the conversion of the direction of the cutter part b231. The third path c0 after material cutting is shown in Figure 17.

The first driving assembly b22 that drives the first cutting element b21 will be described in detail below. With continued reference to Figure 16, the first driving assembly b22 includes: a telescopic part b221, a film cutting track b222, a switching plate b223 and a panel extending along the third direction. The switching track b224, for example, the telescopic part b221 includes a cylinder, the third direction is perpendicular to the first direction, the third direction is perpendicular to the second direction, and the switching plate b223 moves along the second direction to make the cutting film track b222 in the first path a0 switch between the second path b0;

The first cutting element b21 moves along the first path a0 or the second path b0, and the first cutting element b21 includes: a partition b211 and a knife seat b212 connected to the partition b211; Wherein, the fixed end of the telescopic part b221 moves along the extending direction of the switching track b224 , and the free end of the telescopic part b221 is connected to the b partition part 211 .

The action process of the first drive assembly b22 is described as follows: the fixed end of the b telescopic part 221 moves along the extension direction of the switching track b224, and the free end of the telescopic part b221 is connected with the knife seat b212. When the telescopic part b221 is extended, the driving Partition part b211 and knife seat b212 work together, and partition part b211 and knife seat b212 move along the cutting film track to complete the cutting in the direction of the first path a0. When it is necessary to complete the cutting in the direction of the second path b0, move the switch The movement in two directions changes the moving path of the cutting film track, thereby completing the switching from the first path a0 to the second path b0. Partition b211 blows or sucks the outer packaging film of the material, so that there is a certain gap between the outer packaging film and the grouped packaging sleeves, and then the cutting knife on the knife seat b212 cuts the outer packaging film precisely without damage The removal process of the inner packaging sleeve and the outer packaging film of the material is simple and reliable, which reduces the manual work intensity, and the film removal device is mechanized to remove the outer packaging film, which has high work efficiency, saves time and effort, and is conducive to improving the production efficiency of the production line.

For example, the partition b211 includes a film suction seat, which is used to absorb the outer packaging film of the material, so that the grouped packaging sleeve and the outer packaging film are separated. For example, the suction film seat is vacuum adsorption, so that the outer packaging film separated from the group of packaging sleeves can be precisely cut by the cutter on the knife seat b212, without damaging the inner packaging sleeve and the outer packaging film of the material The dismantling process is simple and reliable, reducing manual work intensity, and the film dismantling device is mechanized to remove the outer packaging film, which has high work efficiency, saves time and effort, and is conducive to improving the production efficiency of the production line.

For example, the partition b211 includes a film blowing seat, which is used to blow up the outer packaging film of the material, so that the packaging sleeves in groups are separated from the outer packaging film. For example, the film blowing seat can be an air outlet, blowing the outer packaging film to complete the separation of the grouped packaging sleeve and the outer packaging film. In this way, the cutting knife on the knife seat b212 accurately cuts the outer packaging film separated from the group of packaging sleeves without damaging the inner packaging sleeve. The removal process of the outer packaging film of the material is simple and reliable, reducing manual labor. The work intensity is high, and the film removal device is mechanized to remove the outer packaging film, which has high work efficiency, saves time and effort, and is conducive to improving the production efficiency of the production line.

As shown in Figure 19, the film removal device further includes: a feeding mechanism b3 and a third drive assembly b4 that drives the feeding mechanism b3 to move in the first direction; The feeding mechanism b3 includes a first storage bin b31 located in the feeding channel b1. The first storage bin b31 has a first opening corresponding to the feeding port b11. The first storage bin b31 is used for carrying materials.

First, the material is put into the first storage bin b31 of the feeding mechanism b3 from the feed port b11, and a first opening is provided in the first storage bin b31, and the material is placed in the first storage bin b31 through the first opening, and by opening The film mechanism b2 cuts the outer packaging film of the material placed in the first storage bin b31. After the film opening mechanism b2 completes the cutting of the outer packaging film, the third driving component b4 drives the feeding mechanism b3 to move along the first direction. For example, the third driving assembly b4 can move the first receiving bin b31 in the first direction by driving the lifting screw through the servo motor.

After the first storage bin b31 is moved away from the feeding port b11 by the third drive assembly b4, then the feeding mechanism b3 also includes a first turning element b32, and the first turning element b32 is driven by the first storage bin b31. connected, the first accommodating bin b31 is turned over to switch the orientation of the first opening between the first direction and the third direction. That is to say, the grouped packaging sleeves located in the first storage bin b31 are turned over by 90∘.

For example, the feeding mechanism b3 also includes: two film-absorbing elements b33 and a fourth driving assembly b34 oppositely arranged along the third direction, the film-absorbing element b33 is used to grab the cut outer packaging film, and the fourth driving assembly b34 is used to To drive the suction membrane element b33 to approach or move away from the feed channel.

The film suction member b33 includes a suction cup. For example, the number of suction cups can be selected according to needs. Each suction film element b33 may include at least two suction cups distributed along the second direction. The suction cups are vacuum suction cups. The membrane element b33 is close to the material, and the vacuum suction cup sucks the outer packaging film on both sides of the material in the second direction, and then, driven by the fourth driving component b34, the sucked outer packaging film can be sucked Pull outward, away from the set of packing sleeves, and release the overwrap, thereby separating the side overwrap from the set of packing sleeves.

Continuing to refer to Figure 11, for example, the film removal device also includes: a delivery channel b5 extending along the third direction, and the delivery channel b5 communicates with the feed channel b1; The discharge channel b6 is parallel to the feed channel b1, and the feed channel b1 communicates with the delivery channel b5, and the discharge channel b6 has a discharge port b61.

Since the outer packaging film of the above materials and the grouped packaging sleeves have been separated, and the grouped packaging sleeves located in the first storage bin b31 are turned over 90∘ by the third drive assembly b4, the grouped packaging sleeves after turning over The packaging sleeve is pushed to the second storage bin b81 by the pushing mechanism b7 located in the conveying channel b5, the pushing mechanism b7 includes a pushing element b71 and a fifth driving component b72, for example, the fifth driving component b71 can be an air cylinder or a hydraulic cylinder and other scalable structures.

The first storage bin b31 has a through groove opposite to the first opening, the pushing side of the pushing element b71 matches the through groove, and the fixed end of the pushing element b71 is connected to the fifth drive assembly b72; The fifth driving assembly b72 drives the pushing element b71 to move along the third direction, and the pushing side of the pushing element b71 extends into or exits the first storage bin b31 from the through groove, so as to remove the material located in the first storage bin b31 and remove the outer packaging film. Push to the discharge channel b6, that is, push the grouped packaging sleeves to the discharge channel b6.

As shown in Figure 20, of course, in order to ensure that the groups of packaging sleeves located in the first storage bin b31 are pushed into the second storage bin b81 stably, the pushing element b71 includes a push plate b711 and a limit rod b712, the push plate The side of b711 away from the pushing side is the installation side, the fifth drive assembly b72 is connected to the installation side, and the limit rod b712 is arranged along the movement direction of the fifth drive assembly and connected to the installation side.

That is to say, the limit rod b712 is used to limit the movement direction of the push plate b712. In order to further improve the stability of the push plate b712 movement, two limit rods b712 are arranged symmetrically with respect to the center of the push plate b711 set up. Of course, the area of the push plate b712 is smaller than or equal to the area of the through groove of the first storage compartment b31, so as to facilitate the push plate b711 to protrude or withdraw from the first storage compartment b31.

As shown in FIG. 21, for example, the film removal device further includes a discharge mechanism b8 and a sixth drive assembly b9 that drives the discharge mechanism b8 to move in the first direction;

The discharge mechanism b8 includes a second storage bin b81 located in the discharge channel. The second storage bin b81 has a second opening corresponding to the discharge port b61. The second storage bin b81 is used to carry materials for removing the outer packaging film.

For example, the sixth drive assembly b9 can be a structure such as a servo motor and a lead screw for driving the discharge mechanism to move in the first direction, and the sixth drive assembly b9 can drive the second storage bin b81 to rise to the discharge port b61, That is to say, after the group of packaging sleeves enters the second storage bin b81 from the first storage bin b31, the sixth drive assembly b9 starts to move, and the second storage bin b81 on which the groups of packaging sleeves are placed is raised to the outlet. Material port b61.

Of course, before the second storage bin b81 is raised to the discharge port b61, it is turned over by the second turning element b82. For example, the discharging mechanism 8 also includes a second turning element b82, and the second turning element b82 and the second The accommodating bin b81 is connected by transmission, and the second accommodating bin b81 is turned over to switch the orientation of the second opening between the first direction and the third direction.

Describe the entire movement process of the material: when the material enters the first storage bin b31, the front faces the feed inlet b11, and when the first storage bin b31 is turned 90∘, the front of the grouped packaging sleeve of the material faces the discharge channel b6 , and then the grouped packaging sleeves of the materials located in the first storage bin b31 are pushed to the second storage bin b81 by the push mechanism b7, and the second storage bin b81 is turned over 90∘, so that the front side of the grouped packaging sleeves of the materials Downward, that is, away from the direction of the discharge port b61.

As shown in Fig. 22 and Fig. 23, for example, the packaging sleeve automatic feeding system also includes a dust removal mechanism b10, which is located in the discharge channel b6 to remove dust from the material whose outer packaging film has been removed. For example, the dust removal mechanism b10 is an example of the dust removal device in the packaging sleeve automatic feeding system according to at least one embodiment of the present disclosure, and the dust removal device and the film removal device are integrated.

Generally, debris may be generated during the cutting and removal of the outer packaging film, and the material itself may have some dust. After the outer packaging film is removed, the dust removal operation can be performed on the material itself, for example, as shown in Figure 22 and Figure 23. , the dust removal mechanism b10 includes a top dust removal b110, and the top dust removal b110 includes a dust removal head b111. When the group of packaging sleeves is on the second storage bin b81, the top dust removal b110 is located on the bottom surface of the group of packaging sleeves, and the top dust removal cylinder b112 drives the dedusting head b111 to move back and forth along the second direction to achieve dust suction on the bottom surface of the grouped packaging sleeves. When the second storage bin b81 lifts the grouped packaging sleeves upward, and makes the grouped packaging sleeves When the barrel is flush with the top surface of the discharge port, it stops, and the dust suction part moves with the movement of the moving block to complete the vacuuming of the bottom surface of the grouped packaging sleeves, so as to remove the dust on the bottom surface of the grouped packaging sleeves. Dust, debris, etc.

In addition, there is a ventilation slot b1201 on the same plane as the discharge port and the feed port, and the ventilation slot b1201 is connected to the bottom dust removal b120, and the grouped packaging sleeves after the outer packaging film has been removed are lifted upwards, and after taking them out , moving the grouped packaging sleeves on the top surface of the ventilation groove b1201, the bottom dust removal b120 can vacuum the top surface of the grouped packaging sleeves, so as to remove the dust on the top surface of the grouped packaging sleeves Miscellaneous dust, debris, etc., further increase the dust removal effect on the grouped packaging sleeves.

For example, as shown in FIG. 24 to FIG. 26 , the packaging sleeve automatic feeding system according to the embodiment of the present disclosure further includes: a film bag collecting device b12 for collecting the removed outer packaging film. For example, the membrane packet collection device b12 is provided in the membrane collection station 500 described with reference to FIGS. 1 and 2 .

For example, the film bag collecting device b12 includes: a receiving bin b121, a discharge element b122 and a seventh drive assembly b123; The material receiving bin b121 has a connected collection port b1211 and a discharge port b1212, the discharge element b122 is arranged in the material receiving bin b121, the seventh drive assembly b123 is in transmission connection with the discharge element b122, and the outer packaging film is conveyed from the collection port b1211 to discharge port b1212.

The manipulator 300 takes the outer packaging film from the discharge port of the film removal device, and moves it to the collection port b1211 of the receiving bin b121, and squeezes the outer packaging film into the discharge elbow b123 through the discharge element b122, Then, a collection bag is arranged at the outlet of the discharge elbow b123 to recover the outer packaging film in batches.

As shown in FIG. 25, the discharge element b122 includes a first discharge screw b1221, and the first discharge screw b1221 is in drive connection with a seventh drive assembly b123. For example, the seventh driving component is a driving motor, and the motor drives the first discharge screw b1221 to rotate, extruding the outer packaging film into the discharge elbow b123 to complete the recycling of the outer packaging film.

As shown in FIG. 26, the discharge element b122 further includes a second discharge screw b1222 engaged with the first discharge screw b1221. For example, by driving the motor to drive the first discharge screw b1221, the first discharge screw b1221 is engaged with the second discharge screw b1222, and the first discharge screw b1221 drives the second discharge screw b1222 to rotate to remove the outer packaging film from the second discharge screw b1222. A discharge screw b1221 and a second discharge screw b1222 squeeze into the lower part to complete the recovery of the outer packaging film.

Before entering the detaching device, when the packaging sleeves are stacked, there is a spacer between each layer of packaging sleeves. For example, the separator paper is non-slip paper to increase the friction between each layer of packaging sleeves.

As shown in Fig. 27 to Fig. 30, the packaging sleeve automatic feeding system according to the embodiment of the present disclosure further includes: a spacer recycling device b13. For example, the separator collection unit b13 is installed in the separator collection station 700 shown in FIGS. 1 and 2 .

For example, as shown in Figure 27, the spacer recycling device b13 includes a placement platform b131 for placing spacers, a pushing mechanism b132 and a box body b133;

The pushing mechanism b132 is used to push the separator placed on the placing platform b131 to drop into the box b133.

The spacer is transported to the placement platform b131 by the robot arm, and the pushing mechanism b132 pushes the spacer and drops it into the box b133, so as to realize the recovery of the spacer.

As shown in Fig. 28 to Fig. 30, the spacer recovery device b13 includes a frame b134, a storage box b135 and a placement bar b136; The containing box b135 is rotatably mounted on the frame b134, and the placing bar b136 for placing spacers is arranged in the containing box b135.

Figure 28 shows that the separator recovery device b13 is in a closed state, and Figure 29 shows that the separator recovery device b13 is in an open state. Continuing to refer to Fig. 30, first open the recovery device, that is, rotate the storage box b135 relative to the frame b134, so that the storage box b135 is opened, and the manipulator 300 grabs and moves the separator paper to the placement bar b136 of the storage box b135 .

The scope of the present disclosure is not limited by the embodiments described above, but by the appended claims and their equivalents.

100, 100a, 100b: feeding station 110: protective baffle 120, 120a, 120b: feed safety door 200: processing station 210: Membrane removal device 220: positioning device 230: Flip device 300: manipulator 310: first end effector 311: First base 312: Gripper 313: push piece 314: pull piece 315: connector 316: Drive source 320: second end effector 321: second base 322: sucker 400: buffer station 500: Membrane collection station 600: Defective product recycling bin 700: Paper recycle bin 800: controller 910: Packing sleeve rail 911: gate pressing block 920: Packing sleeves in groups a0: the first path a1: feeding channel a10: collection box a2: Feeding element a21: load board a3: support element a31: support plate a32: Eighth driving mechanism a4: limiter element a41: Limiter guide a5: cutting element a51: cutter element a511: cutter a512: contact block a6: flared components a61:Expand element a62: The fourth drive mechanism a63: fifth drive mechanism a611: Expansion a7: Membrane element a71: grabbing components a711: suction cup components a8: Dust removal board a81: opening a82: Dust collection department a83: ventilation slot a84: Ninth drive mechanism a841: Second guide rail a9: Flip component b0: second path b1: feed channel b10: the second part b110: top dust removal b11: feed port b111: Dust removal head b112: top dust removal cylinder b12: Membrane collection device b120: bottom dust removal b1201: ventilation slot b121: Receiving bin b1211: collection port b1212: discharge port b122: Discharge component b1221: the first discharge screw b1222: Second discharge screw b123: discharge elbow b124: Seventh drive assembly b13: Separation paper recovery device b131: place the platform b132: push organization b133: cabinet b134: Rack b135: storage box b136: Placing rod b2: Membrane opening mechanism b21: cutting element b211: Partition b212: Knife seat b22: The first drive component b221: Partition b222: cut film track b223: switch board b224: switch track b23: second cutting element b231: Cutter department b232: adsorption part b24: Second drive assembly b25: suction cup element b3: Feeding mechanism b31: the first storage compartment b32: the first flip element b33: Suction film element b34: Fourth drive component b4: The third driving component b5: transport channel b6: discharge channel b61: Outlet b7: push mechanism b71: push component b711: push board b712: limit rod b72: fifth drive assembly b8: Discharging mechanism b81: the second storage compartment b82: the second flipping element b9: The sixth driving component c0: the third path H: Horizontal direction J: Feed direction s0: overlapping part

In order to illustrate the technical solutions of the embodiments of the present disclosure more clearly, the accompanying drawings used in the embodiments will be briefly introduced below. It should be regarded as a limitation of the scope, and for those skilled in the art, other related drawings can also be obtained according to these drawings without progressive efforts. Figure 1 shows a schematic top view of an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Figure 2 shows a schematic block diagram of an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Figure 3 shows a schematic diagram of the end execution part of the manipulator of the packaging sleeve automatic feeding system according to an embodiment of the present disclosure; Figure 4 shows a schematic diagram of the first end effector of the manipulator of the packaging sleeve automatic feeding system according to an embodiment of the present disclosure; Figures 5A to 5C show schematic diagrams of the operation of the first end effector of the manipulator of the packaging sleeve automatic feeding system according to an embodiment of the present disclosure; and Figure 6 shows an automatic feeding method for packaging sleeves according to an embodiment of the present disclosure; Fig. 7 is a structural schematic diagram of Example 1 of a film removal device in an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Fig. 8 is a side view structural representation of the film removal device shown in Fig. 7; Fig. 9 is a top view structural schematic diagram of the film removal device shown in Fig. 7; Fig. 10 is a schematic structural view of the cutter element of the film removal device shown in Fig. 7; Figure 11 is a schematic diagram of the positional relationship of channels in Example 2 of the film removal device in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure; Fig. 12 is a three-dimensional structural schematic diagram of Example 2 of the film removal device in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure; Fig. 13 is a side view of the membrane removal device shown in Fig. 12; Figure 14 is a schematic diagram of the movement path of the first cutting element of the film removal device shown in Figure 12 on the material; Fig. 15 is a schematic diagram of the structure of the film removal device shown in Fig. 12, which is located in the feed channel; Fig. 16 is a schematic structural view of the first cutting element and the first drive assembly in the film removal device shown in Fig. 12; Fig. 17 is a schematic structural view of the second cutting element and the second drive assembly in the film removal device shown in Fig. 12; Figure 18 is a schematic diagram of the movement path of the first cutting element and the second cutting element on the material of the film removal device shown in Figure 12; Fig. 19 is a schematic diagram of the structure of the film removal device shown in Fig. 12, which is located in the discharge channel; Fig. 20 is a schematic structural view of the pushing mechanism of the film removal device shown in Fig. 12; Fig. 21 is a schematic structural view of the sixth drive assembly and the discharge mechanism of the film removal device shown in Fig. 12; Figure 22 is a schematic diagram of the bottom dust removal structure of the dust removal mechanism of the film removal device shown in Figure 12; Figure 23 is a schematic diagram of the top dust removal structure of the dust removal mechanism of the film removal device shown in Figure 12; Fig. 24 is a schematic structural view of a film packet collecting device in an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Fig. 25 is a schematic structural view of a film packet collecting device in an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Fig. 26 is a schematic structural view of another film pack recycling device in the automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Fig. 27 is a schematic structural view of a spacer recycling device in an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Fig. 28 is a schematic diagram of another separator recycling device in the automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Fig. 29 is a schematic diagram of an open state of another separator recovery device in the automatic feeding system for packaging sleeves according to an embodiment of the present disclosure; Fig. 30 is a schematic structural view of another separating paper recovery device in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure.

110: protective baffle

120: feed safety door

200: processing station

210: Membrane removal device

230: Flip device

300: manipulator

400: buffer station

500: Membrane collection station

600: Defective product recycling bin

700: Paper recycle bin

910: Packing sleeve rail

920: Packing sleeves in groups

H: Horizontal direction

J: Feed direction

Claims (59)

An automatic feeding system for packaging sleeves, which is used to provide a plurality of grouped packaging sleeves to a packaging sleeve material rail, the packaging sleeve material rail extends in a feeding direction, and the grouped packaging sleeves The cartridge comprises a plurality of packaging sleeves stacked together, and the groups of packaging sleeves are provided to the packaging sleeve rail in a state in which a stacking direction of the plurality of packaging sleeves is parallel to the feeding direction Among them, the packaging sleeve automatic feeding system includes: a feeding station for stacking together a plurality of the groups of packaging sleeves, each of the groups of packaging sleeves wrapped by an outer packaging film; a processing station including a film stripping device for removing the overwrap film from the set of packaging sleeves; a manipulator; and a controller, the controller is configured to control the manipulator to take the groups of packaging sleeves from the feeding station to the processing station, and control the manipulator to remove the grouped packaging sleeves after the outer packaging film is removed. Groups of packaging sleeves are supplied from the processing station into the packaging sleeve rail. For example, the automatic feeding system for packaging sleeves in request item 1 further includes: a buffer station for stacking the groups of packaging sleeves wrapped by the outer packaging film, The feeding station includes a protective barrier movable between a closed position, in which the protective barrier prevents the manipulator from entering the feeding station, and an open position, in which the protective barrier plate allows the manipulator to enter the feeding station, The controller is configured as: When a user command indicating replenishment is received, the protective baffle of the feeding station is controlled to move to the closed position, and when the protective baffle is in the closed position, the manipulator is controlled to take from the buffer station taking the sets of packaging sleeves to the processing station; and When receiving a user command indicating that the feeding is completed, the protective baffle of the feeding station is controlled to move to the open position, and when the protective baffle is in the open position, the manipulator is controlled to move from the feeding The station takes the groups of packaging sleeves to the processing station. Such as the packaging sleeve automatic feeding system of claim 2, wherein, The feeding station further includes a feeding safety door, by which feeding is performed from the outside of the packaging sleeve automatic feeding system, The controller is configured to allow the feed safety door to open only when the protective barrier of the feed station is moved to the closed position. Such as the packaging sleeve automatic feeding system of claim 2, wherein, The buffer station and the feeding station are arranged side by side in a transverse direction perpendicular to the feeding direction, and are arranged opposite to the packaging sleeve rail in a direction parallel to the feeding direction, The processing station and a base of the manipulator are arranged side by side in the transverse direction perpendicular to the feeding direction, and arranged between the packaging sleeve material rail and the buffer station and in a direction parallel to the feeding direction. between the feeding stations, and In the transverse direction perpendicular to the feed direction, the base and the feed station of the manipulator are arranged opposite the processing station and the buffer station, respectively. Such as the packaging sleeve automatic feeding system of claim 2, wherein, The manipulator is rotatably mounted on a base, and the feeding station, the buffer station, the processing station and the packaging sleeve material rail are sequentially arranged around the base on the movement track of the manipulator. For example, the automatic feeding system for packaging sleeves in request item 2 further includes: a feed progress sensor configured to sense the number of packaging sleeves in the packaging sleeve track; and a buffer quantity sensor configured to sense the quantity of the sets of packaging sleeves wrapped by the overwrap film in the buffer station, The controller is configured as: When the quantity of the packaging sleeves in the packaging sleeve material track satisfies a first predetermined condition and the quantity of the grouped packaging sleeves wrapped by the outer packaging film in the buffer station satisfies a second predetermined condition condition, control the manipulator to take the grouped packaging sleeves wrapped by the outer packaging film from the feeding station to the buffer station. Such as the packaging sleeve automatic feeding system of claim 6, wherein There are multiple packaging sleeve rails, and the first predetermined condition is that the plurality of packaging sleeve rails all include more than the first predetermined number of the packaging sleeves, The second predetermined condition is that the buffer station comprises less than the second predetermined number of the groups of packaging sleeves wrapped by the outer packaging film. Such as the packaging sleeve automatic feeding system of claim 1, wherein, The manipulator includes a first end effector configured to use the first end effector to provide the set of packaging sleeves from the processing station to the packaging sleeve with the outer packaging film removed barrel rail, The first end effector includes: a first base and a pair of jaws mounted to the first base, a pusher and a puller, the pair of jaws extend in a first direction relative to the first base and are configured to move in a second direction perpendicular to the first direction between a gripping position and a release position, The pushing member has a pushing surface perpendicular to the first direction, The puller is configured to be attachable to the sets of packaging sleeves and to be movable in the first direction. Such as the packaging sleeve automatic feeding system of claim 8, wherein, The controller is configured as: controlling the manipulator to move the first base so that the first direction is aligned with the stacking direction of the plurality of packaging sleeves in the sets; controlling the pair of jaws to pick up the groups of packaging sleeves and place the groups of packaging sleeves on the packaging sleeve material rail; After the groups of packaging sleeves are placed on the packaging sleeve material rail, controlling the pusher to push the groups of packaging sleeves in the stacking direction; and Controlling the pulling member while the pushing member pushes the grouped packaging sleeves, a gate pressing block that pulls the packaging sleeve material rail moves in the stacking direction until near the pushing surface of the pushing member so that the The shutter block can be released to depress the packing sleeves, The gate pressing block presses the packaging sleeves in the packaging sleeve rail in the feeding direction, and the shutter pressing block is configured to be able to surround an upright direction perpendicular to the feeding direction when pulled by the pulling member. Pivot to stop depressing the packaging sleeves. Such as the packaging sleeve automatic feeding system of claim 8, wherein, The manipulator further includes a second end effector configured to take the groups of packaging sleeves from the feed station to the processing station using the second end effector, the second end effector The device includes a suction cup. Such as the packaging sleeve automatic feeding system of claim 1, wherein, The processing station further includes: A dedusting device configured to dedust the set of packaging sleeves after the outer packaging film is removed. Such as the packaging sleeve automatic feeding system of claim 2, wherein, The processing station further includes: A positioning device and a turning device, the positioning device senses the orientation of the groups of packaging sleeves, the turning device is used to turn the groups of packaging sleeves to make them correctly positioned. For example, the automatic feeding system for packaging sleeves of claim 12 further includes: a film collection station that collects the outer packaging film removed from the sets of packaging sleeves; a reject station that collects such groups of packaging sleeves that cannot be properly positioned; and a separator paper recycling station, which collects a plurality of separator paper, The groups of packaging sleeves are stacked at the feeding station in a plurality of layers, each of the layers comprising a plurality of the groups of packaging sleeves arranged in an array, and the plurality of layers are formed by the equally spaced paper separated. Such as the packaging sleeve automatic feeding system of claim 13, wherein, The controller is configured as: controlling the manipulator to take the removed outer packaging film from the film removal device to the film collection station, controlling the manipulator to take the grouped packaging sleeves that cannot be correctly positioned from the turning device to the defective product recycling station, and Control the manipulator to take the separator papers from the feeding station to the separator paper recycling station. Such as the packaging sleeve automatic feeding system of claim 13, wherein, The buffer station and the feeding station are arranged side by side in a transverse direction perpendicular to the feeding direction, and are arranged opposite to the packaging sleeve rail in a direction parallel to the feeding direction, The processing station and a base of the manipulator are arranged side by side in the transverse direction perpendicular to the feeding direction, and arranged between the packaging sleeve material rail and the buffer station and in a direction parallel to the feeding direction. between the feeding stations, and In the transverse direction perpendicular to the feeding direction, the base and the feeding station of the manipulator are respectively arranged opposite to the processing station and the buffer station, The film collection station is arranged on the side of the processing station remote from the base of the manipulator in the transverse direction perpendicular to the feed direction, The separator recycling station is arranged on the side of the buffer station away from the feeding station in the transverse direction perpendicular to the feeding direction, The film collection station, the defective product recycling station and the spacer paper recycling station are sequentially arranged at the outer periphery of the packaging sleeve automatic feeding system in a direction parallel to the feeding direction. The packaging sleeve automatic feeding system according to any one of claims 1 to 15, wherein the film removal device includes: a feeding channel extending along a first direction, the feeding channel has a cutting station therein; A feeding element, the feeding element includes: a loading plate located in the feeding channel and moving along the first direction, and a first driving mechanism for driving the loading plate, the loading plate is used to carry a material supported on a surface to be cut of the material, wherein the material is the group of packaging sleeves wrapped by the outer packaging film; Two supporting elements arranged along a second direction and respectively located on opposite sides of the feeding channel, the second direction is perpendicular to the first direction, the supporting element has a plurality of supporting surfaces, and in the second direction, The carrying plate is located between two such support surfaces, and the two such support surfaces are used to respectively support the two opposite side portions of the surface to be cut of the material. When the material is located at the cutting station, the material supported on two such supporting surfaces; A limiter element, the limiter element includes a limiter guide located on the peripheral side of the feeding channel, the limiter guide is located on the side of the supporting surfaces facing the cutting station; and the feeding The limiter guides on at least two opposite sides of the channel circumference are a limiter pressing piece, and each of the limiter pressing pieces is connected with a second driving mechanism, and the second driving mechanism is used to drive the limiter. The pressing part moves in the direction of approaching or moving away from the material; A cutting element, the cutting element includes: a cutter element located on the side of the supporting surfaces facing away from the cutting station, and a third drive mechanism for driving the cutter element to move in a third direction, the first Three directions are perpendicular to the first direction, and the third direction is perpendicular to the second direction. The cutter element is used to face the surface to be cut of the material and cut the outer packaging film of the material. The packaging sleeve automatic feeding system according to claim 16, wherein, in the third direction, at least one side of the feeding channel corresponding to an initial position of the cutter element is provided with a flaring element, and the flaring element It includes: an expansion element for expanding the outer packaging film on the side of the material along the second direction, a fourth driving mechanism for driving the expansion element to move along the third direction, and a fourth driving mechanism for driving the expansion element A fifth driving mechanism acting in the first direction. The packaging sleeve automatic feeding system according to claim 17, wherein the expansion element includes two expansion parts that can approach or move away from each other along the second direction, and a sixth driving mechanism for driving the movement of the expansion parts . The packaging sleeve automatic feeding system according to claim 17, wherein, in the third direction, both sides of the feeding channel are provided with the flaring elements. The packaging sleeve automatic feeding system according to claim 17, wherein the cutter element includes a cutter, and a contact block for contacting the material is provided on the side of the cutter facing the supporting surfaces, and the contact One end of the block in the same direction as a cutting edge of the cutting knife exceeds the cutting edge to form a protruding part, a free end of the protruding part is a "V"-shaped structure, and a tip of the "V"-shaped structure is connected to the cutting edge. The blades of the knife are arranged in the same direction. Such as the automatic feeding system for the packaging sleeve of claim 16, wherein the film removal device further includes: In the second direction, two film separating elements are respectively located on opposite sides of the feeding channel, and each of the film separating elements includes a grasping element for grasping the cut outer packaging film and a driving element for driving The grabbing element moves along a seventh driving mechanism that moves away from or close to the feeding channel, and in the first direction, the grabbing element is located between the supporting surfaces and the limiter guide. The packaging sleeve automatic feeding system according to claim 21, wherein the grabbing element includes a suction cup element. The packaging sleeve automatic feeding system according to claim 16, wherein each of the support elements includes a support plate and an eighth drive mechanism for driving the support plate to move along the second direction, and the top of the support plate Surfaces form the support surfaces. The packaging sleeve automatic feeding system according to claim 16, wherein the limiting pressing parts are respectively provided on both sides of the feeding channel in the second direction; and in the feeding channel in the third direction The two sides of the two sides are respectively provided with the limiting pressing parts. According to claim 16, the packaging sleeve automatic feeding system, wherein, corresponding to the film removal device, there are: a dust removal plate located on the side of the limiter guide away from the support element, and a dust removal plate installed on the dust removal plate away from the A top dust-removing element on one side of the limiter guide member, an opening opposite to and communicating with the feeding channel is arranged on the dust-removing plate. The packaging sleeve automatic feeding system according to claim 25, wherein the top dust removal element includes: a dust suction part, and a ninth driving mechanism for driving the dust suction part to move along an extension direction of one side of the opening . The automatic feeding system for packaging sleeves as claimed in claim 25, wherein the dust removal plate is also provided with a ventilation slot, and the ventilation slot is connected with a bottom dust suction element. Such as the packaging sleeve automatic feeding system of claim 16, wherein, corresponding to the film removal device, there are also: A turning element, the turning element includes a turning bracket, a turning frame installed on the turning support and used to carry the material that can rotate around its own axis, and a drive assembly for driving the turning frame to rotate, the A rotation axis of the overturned frame is perpendicular to the first direction; An imaging element is arranged on the peripheral side of the reversing frame and used for detecting a preset mark on the material. According to claim 28, the packaging sleeve automatic feeding system, wherein, corresponding to the film removal device, a scanner is provided on the peripheral side of the reversing frame and used to detect the identification code on the material. The packaging sleeve automatic feeding system according to claim 16, wherein a collection box for collecting the removed outer packaging film is also provided corresponding to the film removal device. The packaging sleeve automatic feeding system according to any one of claims 1 to 15, wherein the film removal device includes: a feed channel extending along the first direction, the feed channel has a feed port, the feed channel has a first cutting station and a second cutting station located at the feed port; A film opening mechanism, the film opening mechanism includes: two first cutting elements located at the first cutting station, the two first cutting elements are arranged opposite to each other along a second direction, the first direction and the second direction vertical; Two first drive assemblies are provided corresponding to the two first cutting elements, and in each pair of first drive assemblies and first cutting elements corresponding to each other, the first drive assembly drives the first cutting element along a first Path movement, the first driving assembly drives the first cutting element to move along a second path, the first path and the second path include an overlapping portion, the overlapping portion is parallel to the first direction; the first path is further Including a first part connected to the overlapped part, the second path further includes a second part connected to the overlapped part, in the angle formed by the first part and the second part, the opening faces the direction of the feed inlet The included angle is less than 180∘; The film opening mechanism further includes: a second cutting element located at the second cutting station, a second driving assembly for driving the second cutting element to move along the second direction; wherein, the second cutting element includes a cutting A knife part and an adsorption part, the adsorption part is used to absorb the outer packaging film so that there is a gap between the material and the outer packaging film, and the second drive assembly drives the cutter part to move along the second direction, wherein the material The set of packaging sleeves wrapped by the outer packaging film. The packaging sleeve automatic feeding system according to claim 31, wherein the film opening mechanism further includes: a suction cup element located at the second cutting station, the suction cup element is used to absorb the outer packaging film so that the material and the There is a gap in the outer packaging film. Such as the packaging sleeve automatic feeding system of claim 31, wherein, The first driving assembly includes: a telescoping part, a cut film track, a switching plate and a switching track extending along a third direction, the third direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction Vertically, the switching plate moves along the second direction to switch the cutting film track between the first path and the second path; The first cutting element moves along the first path or the second path, and the first cutting element includes: a partition and a knife seat connected to the partition; Wherein, a fixed end of the telescopic part moves along an extension direction of the switching track, and a free end of the telescopic part is connected with the partition part. According to claim 33, the packaging sleeve automatic feeding system, wherein the partition includes a film suction seat, and the film suction seat is used to absorb the outer packaging film of the material. The packaging sleeve automatic feeding system according to claim 33, wherein the partition includes a film blowing seat, and the film blowing seat is used to blow up the outer packaging film of the material. The packaging sleeve automatic feeding system according to claim 33, wherein the telescoping part includes an air cylinder. The packaging sleeve automatic feeding system as claimed in claim 33, wherein the film removal device further includes: a feeding mechanism and a third driving component that drives the feeding mechanism to move along the first direction; The feeding mechanism includes a first storage bin located in the feeding channel, the first storage bin has a first opening corresponding to the feeding port, and the first storage bin is used to carry the material. The packaging sleeve automatic feeding system according to claim 37, wherein, the feeding mechanism further includes a first turning element, the first turning element is connected to the first storage bin in transmission, and the first storage bin is turned over to make the The orientation of the first opening is switched between the first direction and the third direction. According to claim 38, the packaging sleeve automatic feeding system, wherein, the feeding mechanism further includes: two film-absorbing elements and a fourth driving assembly arranged oppositely along the third direction, and the film-absorbing element is used for grasping Taking the cut outer packaging film, the fourth driving assembly is used to drive the suction film element to approach or move away from the feeding channel. According to claim 39, the packaging sleeve automatic feeding system, wherein the suction film element includes a suction cup. Such as the packaging sleeve automatic feeding system of claim 37, wherein the film removal device further includes: a delivery channel extending along the third direction, and the delivery channel communicates with the feed channel; A discharge channel is parallel to the feed channel, and the feed channel communicates with the conveying channel, and the discharge channel has a discharge port. The packaging sleeve automatic feeding system according to claim 41, wherein the film removal device further includes a pushing mechanism located in the conveying channel, and the pushing mechanism includes a pushing element and a fifth driving component; The first receiving bin has a through groove opposite to the first opening, a pushing side of the pushing element matches the through groove, and a fixed end of the pushing element is connected with the fifth drive assembly; The fifth driving assembly drives the pushing element to move along the third direction, and the pushing side of the pushing element protrudes into or exits the first storage bin from the through slot, so as to dismantle the outer casing located in the first storage bin. The material of the packaging film is pushed to the discharge channel. The packaging sleeve automatic feeding system according to claim 42, wherein the pushing element includes a pushing plate and a limit rod, the side of the pushing plate away from the pushing side is an installation side, the fifth drive assembly and the The installation side is connected, and the limit rod is arranged along the movement direction of the fifth drive assembly and connected with the installation side. The packaging sleeve automatic feeding system according to claim 43, wherein the film removal device further includes a discharge mechanism and a sixth drive assembly that drives the discharge mechanism to move along the first direction; The discharge mechanism includes a second storage bin located in the discharge channel, the second storage bin has a second opening corresponding to the discharge port, and the second storage bin is used to carry the material for removing the outer packaging film. the material. The packaging sleeve automatic feeding system according to claim 44, wherein, the discharge mechanism further includes a second turning element, the second turning element is in transmission connection with the second storage bin, and the second storage bin turns over to make the The orientation of the second opening is switched between the first direction and the third direction. For example, the packaging sleeve automatic feeding system of claim 45 further includes a dust removal mechanism, which is located in the discharge channel to remove dust from the material from which the outer packaging film has been removed. The packaging sleeve automatic feeding system as claimed in claim 31 further includes: a film bag collecting device for collecting the removed outer packaging film. The packaging sleeve automatic feeding system of claim 47, wherein the film bag collecting device includes: a receiving bin, a discharging element and a seventh driving assembly; The receiving bin has a connected collection port and a discharge port, the discharging element is arranged in the receiving bin, and the seventh drive assembly is in drive connection with the discharging element, and the outer packaging film is released from the collecting port Transfer to the discharge port. According to claim 48, the packaging sleeve automatic feeding system, wherein, the discharge element includes a first discharge screw, and the first discharge screw is in transmission connection with the seventh drive assembly. According to claim 49, the packaging sleeve automatic feeding system, wherein the discharging element further includes a second discharging screw engaged with the first discharging screw. For example, the automatic feeding system for packaging sleeves in claim 31 further includes: a spacer recycling device. The packaging sleeve automatic feeding system as in claim 51, wherein the spacer recovery device includes a placement platform for placing a plurality of spacers, a pushing mechanism and a box; The pushing mechanism is used to push the spacers placed on the placement platform to fall into the box. Such as the automatic feeding system for packaging sleeves of claim 51, wherein the spacer recovery device includes a frame, a storage box and a placement rod; The holding box is rotatably installed on the frame, and the placing bar for placing the equal spacer paper is arranged in the holding box. An automatic feeding method for packaging sleeves, which is used to provide a plurality of grouped packaging sleeves to a packaging sleeve material rail, the packaging sleeve material rail extends in a feeding direction, and the grouped packaging The sleeve includes a plurality of packaging sleeves stacked together, and the groups of packaging sleeves are provided to the packaging sleeve material rail in a state in which the stacking direction of the plurality of packaging sleeves is parallel to the feeding direction , the method includes: The groups of packaging sleeves are taken from the feeding station to the processing station by a manipulator, and the feeding station is used for stacking a plurality of the groups of packaging sleeves stacked together, each of the Grouped packaging sleeves are wrapped by an outer packaging film, and the processing station includes a film removal device; using the film tearing device to remove the outer packaging film from the set of packaging sleeves; and The sets of packaging sleeves after removal of the outer packaging film are provided from the processing station into the packaging sleeve rail by means of the manipulator. For example, the automatic feeding method of claim 54 further includes: In response to a user command indicating refilling, a protective flap of the feeding station is moved to a closed position, and when the protective flap is in the closed position, the manipulator is used for stacking the outer packaging a buffer station of the film-wrapped sets of packaging sleeves takes the sets of packaging sleeves to the processing station; and moving the protective barrier of the feeding station to an open position in response to a user command indicating completion of refilling, and taking the manipulator from the feeding station while the protective barrier is in the open position The group of packaging sleeves goes to the processing station. For example, the automatic feeding method of claim 55 further includes: Sensing the quantity of the plurality of packaging sleeves in the packaging sleeve rail with a feed progress sensor; sensing the quantity of the sets of packaging sleeves wrapped by the overwrap film in the buffer station by a buffer quantity sensor; and When the quantity of the packaging sleeves in the packaging sleeve material track satisfies a first predetermined condition and the quantity of the grouped packaging sleeves wrapped by the outer packaging film in the buffer station satisfies the second predetermined condition When conditions are met, the manipulator is used to take the grouped packaging sleeves from the feeding station to the buffer station. Such as the automatic feeding method of claim 55 or 56, wherein, The manipulator includes a first end effector and a second end effector, providing the set of packaging sleeves with the overwrap film removed from the processing station to the packaging sleeve rail using the first end effector, taking the set of packaging sleeves from the feed station to the processing station using the second end effector, The method further includes: Switching is made between the first end effector and the second end effector. Such as the automatic feeding method of claim 55 or 56, wherein, The processing station further includes a positioning device and a turning device, The method further includes: Use the positioning device to sense the orientation of the group of packaging sleeves, and when sensing that the orientation of the group of packaging sleeves is incorrect, use the turning device to turn the group of packaging sleeves over for correct positioning , After the grouped packaging sleeves are correctly positioned, the outer packaging film is removed from the grouped packaging sleeves by using the film tearing device. Such as the automatic feeding method of claim 58, which further includes Utilizing the manipulator to move a packaging sleeve device that cannot be correctly positioned at the processing station to a defective product recycling station; Utilizing the manipulator to move the removed overwrap film to a film collection station; and Use the manipulator to move multiple separators to a separator recycling bin, The grouped packaging sleeves are stacked at the feeding station into a plurality of layers, each layer comprising a plurality of grouped packaging sleeves arranged in an array, and each layer separated by the equal spacer paper.

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