WO2023088353A1 - Automatic feeding system for packaging sleeves and automatic feeding method for packaging sleeves - Google Patents

Automatic feeding system for packaging sleeves and automatic feeding method for packaging sleeves Download PDF

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Publication number
WO2023088353A1
WO2023088353A1 PCT/CN2022/132502 CN2022132502W WO2023088353A1 WO 2023088353 A1 WO2023088353 A1 WO 2023088353A1 CN 2022132502 W CN2022132502 W CN 2022132502W WO 2023088353 A1 WO2023088353 A1 WO 2023088353A1
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WO
WIPO (PCT)
Prior art keywords
packaging
station
film
sleeves
assembly
Prior art date
Application number
PCT/CN2022/132502
Other languages
French (fr)
Chinese (zh)
Inventor
李月明
戈文华
蔡荣阶
汪长银
Original Assignee
康美包(苏州)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN202111399363.3A external-priority patent/CN116142517A/en
Priority claimed from CN202122876449.2U external-priority patent/CN217673306U/en
Priority claimed from CN202220866419.5U external-priority patent/CN217171249U/en
Priority claimed from CN202222429180.8U external-priority patent/CN218317758U/en
Priority claimed from CN202211115126.4A external-priority patent/CN117735051A/en
Application filed by 康美包(苏州)有限公司 filed Critical 康美包(苏州)有限公司
Publication of WO2023088353A1 publication Critical patent/WO2023088353A1/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/02Machines characterised by the incorporation of means for making the containers or receptacles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/12Feeding flexible bags or carton blanks in flat or collapsed state; Feeding flat bags connected to form a series or chain
    • B65B43/14Feeding individual bags or carton blanks from piles or magazines
    • B65B43/16Feeding individual bags or carton blanks from piles or magazines by grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65BMACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B69/00Unpacking of articles or materials, not otherwise provided for

Definitions

  • 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 holding contents, which can be liquid contents such as milk, fruit juice, etc., 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 the 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.
  • At least one embodiment of the present disclosure provides an automatic feeding system for packaging sleeves, which is used to provide packaging sleeves in groups to the packaging sleeve material rail.
  • the packaging sleeve material rail extends in the feeding direction, forming a group of
  • the packaging sleeve includes a plurality of packaging sleeves stacked together, and the grouped packaging sleeves are 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 includes: a feeding station for stacking a plurality of groups of packaging sleeves stacked together, each group of packaging sleeves is wrapped by an outer packaging film; a processing station, including a film removal device, which will The outer packaging film is removed from the group of packaging sleeves; the manipulator; and a controller configured to control the manipulator to take the group of packaging sleeves from the infeed station to the processing station, and to control the manipulator 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.
  • 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, the guard guard prevents the manipulator from entering the feed station, and an open position, the guard guard allows the manipulator to enter the feed station.
  • the controller is configured to: when receiving a user command indicating feeding, 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.
  • control the protective flap of the feeding station to move to the open position, and when the protective flap is in the open position, control the manipulator to move from the feeding station to the processing station;
  • the material station takes the grouped packaging sleeves to the processing station.
  • the feed station further includes a feed safety door through which refill is made from outside the system, and the controller is configured to allow feed only when the feed station guard is moved to the closed position.
  • the material safety door opens.
  • the buffering station and the feeding station are arranged side by side in a transverse direction perpendicular to the feeding direction and opposite to the packaging sleeve rail in a direction parallel to the feeding 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 between the packaging sleeve rail and the buffer station and the feeding station in a direction parallel 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.
  • the manipulator is rotatably mounted on the base, and the feeding station, the buffering station, the processing station and the packaging sleeve rail are sequentially arranged around the base on the movement track of the manipulator.
  • 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 The number of sets of packaging sleeves wrapped in the overwrap film in the buffer station is sensed.
  • 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 , control the manipulator to take the grouped packaging sleeves wrapped by the outer packaging film from the feeding station to the buffering station.
  • the first predetermined condition is that the multiple packaging sleeve rails all include more than the first predetermined number of packaging sleeves
  • the second predetermined condition is that the buffer station A set of packaging sleeves wrapped in an overwrap film includes less than a second predetermined number.
  • 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 stock with the outer packaging film removed. 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
  • the puller is configured to be attachable to the set of packaging sleeves and to be movable in a first direction.
  • 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 set of packaging sleeves; Group the packaging sleeves and place the groups of packaging sleeves on the packaging sleeve material rail; when the groups of packaging sleeves are placed on the packaging sleeve material rail, the control pusher pushes the grouped packaging sleeves in the stacking direction and control the pulling member. While the pusher pushes the grouped packaging sleeve, the gate pressing block that pulls the packaging sleeve material rail moves in the stacking direction until near the pushing surface of the pusher so that the gate pressing block can be released to press Packing sleeve.
  • the gate press block presses the packaging sleeve in the packaging sleeve rail in the feed direction
  • the gate press block is configured to pivot around a vertical direction perpendicular to the feed direction to stop pressing the packaging sleeve when pulled by the pulling member barrel position.
  • 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 a suction cup .
  • the processing station further includes a dedusting device configured to dedust the set of packaging sleeves after the outer packaging film has been removed.
  • the processing station further 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 so that they Correct positioning.
  • 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 positioned group of packaging sleeves; and a separator recycling station which collects the separator.
  • the groups of packaging sleeves are stacked at the feeding station into a plurality of layers, each layer comprising a plurality of groups of packaging sleeves arranged in an array, and the layers are separated by spacers.
  • 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, and control the manipulator to take the grouped packaging film that cannot be correctly positioned from the turning device.
  • the packaging sleeve goes to the defective product recovery station, and the manipulator is controlled to take the separator paper from the feeding station to the separator paper recovery station.
  • the buffering 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, and the processing station
  • the position and the base of the manipulator are arranged side by side in the transverse direction perpendicular to the feeding direction, and are arranged between the packaging sleeve material rail and the buffering station and the feeding station in a direction parallel 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, and the film collecting station is arranged in the transverse direction perpendicular to the feeding direction.
  • the side of the processing station away from the base of the manipulator, the septum recycling station is set on the side of the buffer station away from the feeding station in the transverse direction perpendicular to the feeding direction, the film collecting station, defective products
  • the recovery station and the spacer recovery station are sequentially arranged at the outer periphery of the system in a direction parallel to the feeding direction.
  • the film removal device includes: a feeding channel extending along a first direction, a cutting station is provided in the feeding channel; a feeding assembly, the feeding assembly includes: A loading plate 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 materials and support on the surface to be cut of the materials; Two support assemblies 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 support assemblies have a support surface, and in the second direction Above, the bearing plate is located between the two supporting surfaces, and the two supporting surfaces are used to respectively support the two opposite sides of the material to be cut.
  • the material is supported on the two supporting surfaces;
  • the limit assembly the limit assembly includes a limit guide located on the side of the feeding channel, and the limit guide is located on the The supporting surface faces one side of the cutting station; and the limit guides on at least two opposite sides of the surrounding side of the feeding channel are limit pressing members, and each limit clamping member is connected with a second The driving mechanism, the second driving mechanism is used to drive the position-limiting pressing member to move in the direction of approaching or away from the material;
  • the cutting assembly includes: located on the support surface away from the cutting station A cutter assembly on one side of the cutter assembly, and a third drive mechanism for driving the cutter assembly to move in a third direction, the third direction is perpendicular to the first direction, and the third direction is in line with the The second direction is vertical, and the cutter assembly is used to face the surface of the material to be cut and cut the outer packaging film of the material.
  • At least one side of the feeding channel corresponding to the initial position of the cutter assembly is provided with a flaring assembly
  • the flaring assembly includes: A splitting assembly for expanding the outer packaging film on the side of the material along the second direction, a fourth driving mechanism for driving the splitting assembly to move along the third direction, and a fourth driving mechanism for driving the splitting assembly A fifth drive mechanism for moving the assembly in said first direction.
  • the expander assembly includes two expanders that can approach or move away from each other along the second direction, and a sixth driving mechanism for driving the expanders to move.
  • both sides of the feeding channel are provided with the flaring components.
  • the cutter assembly 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
  • 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
  • the membrane splitting device further includes: two membrane separation assemblies respectively located on opposite sides of the feeding channel in the second direction, each of the membrane separation assemblies includes The grabbing component for grabbing the cut outer packaging film and the seventh driving mechanism for driving the grabbing component to move away from or close to the feeding channel, in the first direction, the grabbing component is located at between the support surface and the limiting guide.
  • the gripper assembly includes a suction cup assembly.
  • each of the support assemblies 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.
  • 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.
  • a dust removal plate located on the side of the limit guide away from the support assembly, and a dust removal plate installed on the side of the limit guide away from the limit guide
  • the dust removal plate is provided with an opening opposite to and communicating with the feeding channel.
  • the top dust removal assembly 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.
  • the dust removal plate is further provided with ventilation slots, and the ventilation slots are connected with bottom dust suction components.
  • the overturning assembly includes an overturning bracket, and is installed on the overturning bracket that can rotate around its own axis and is used to bear the material.
  • the reversible frame body, and the driving assembly for driving the rotation of the reversible frame body, the rotation axis of the reversible frame body is perpendicular to the first direction; it is arranged on the peripheral side of the reversible frame body and used for detecting Camera components with preset marks on the above materials.
  • a code scanner is provided on the peripheral side of the reversing frame and used to detect the identification code on the material.
  • a collection box for collecting the removed outer packaging film is provided corresponding to the film removal device.
  • 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 is located at the The second cutting station of the feed port; the film opening mechanism, the film opening mechanism includes: two first cutting assemblies located at the first cutting station, and the two first cutting assemblies are opposite along the second direction It is set that the first direction is perpendicular to the second direction; the two first drive assemblies corresponding to the two first cutting assemblies, each pair of the first drive assembly and the first cutting assembly corresponding to each other Among them, the first driving assembly drives the first cutting assembly to move along the first path, the first driving assembly drives the first cutting assembly to move along the second path, the first path and the second path include overlapping parts, and the overlapping The part is parallel to the first direction; the first path also includes a first part connected to the overlapping part, the second path also includes a second part connected to the overlapping part, and the first part and the second part In the formed angle, the angle between the opening and the direction of
  • the film opening mechanism further includes: a suction cup assembly located at the second cutting station, the suction cup assembly is used to absorb the outer packaging film to separate the material from the outer packaging film. There is a gap in the wrapping film.
  • 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 assembly moves along the first path or the second path, and the first cutting assembly 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.
  • the partition includes a film suction seat, and the film suction seat is used to absorb the outer packaging film of the material.
  • 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 telescoping portion includes an air cylinder.
  • 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.
  • the feeding mechanism further includes a first overturning component, the first overturning component 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 switched between the first direction and the third direction.
  • the feeding mechanism further includes: two suction film assemblies and a fourth drive assembly oppositely arranged along the third direction, the suction film assembly is used to grab the cut outer packaging membrane, the fourth driving component is used to drive the suction membrane component to approach or move away from the feeding channel.
  • the suction membrane assembly includes a suction cup.
  • 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.
  • 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 component and a fifth driving component; the first The accommodating bin has a through groove opposite to the first opening, the pushing side of the push assembly matches the through groove, and the fixed end of the push assembly is connected to the fifth drive assembly; the fifth drive assembly Driving the push assembly to move along the third direction, the push side of the push assembly extends into or out of the first storage compartment from the through slot, so as to dismantle the outer package located in the first storage compartment The material of the membrane is pushed to the discharge channel.
  • the push assembly includes a push plate and a limit rod
  • the side of the push plate away from the push side is the installation side
  • 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.
  • 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.
  • the discharge mechanism further includes a second overturning component, the second overturning component 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 switched between the first direction and the third direction.
  • 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.
  • the packaging sleeve automatic feeding system further includes: a film packet collecting device for collecting the removed outer packaging film.
  • the film packet collecting device includes: a receiving bin, a discharge assembly and a seventh drive assembly; the receiving bin has a connected collection port and a discharge port, and the discharge assembly is set In the material receiving bin, the seventh drive assembly is in transmission connection with the discharge assembly to transfer the outer packaging film from the collection port to the discharge port.
  • the discharge assembly includes a first discharge screw, and the first discharge screw is in transmission connection with the seventh drive assembly.
  • the tapping assembly further includes a second tapping screw engaged with the first tapping screw.
  • the packaging sleeve automatic feeding system further includes: a spacer recycling device.
  • 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.
  • 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 packaging sleeves in groups to the packaging sleeve material rail, and the packaging sleeve material rail extends in the feeding direction, forming a group
  • the packaging sleeve includes a plurality of packaging sleeves stacked together, and the grouped packaging sleeves are 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 method includes: using a manipulator to take groups of packaging sleeves from a feed station to a processing station, the feed station is used to stack a plurality of groups of packaging sleeves stacked together, each group of packaging sleeves
  • the tube is wrapped with 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 Cartridges are provided from a processing station into a packaging sleeve track.
  • the automatic feeding method further includes: in response to a user command indicating feeding, moving the protective baffle of the feeding station to the closed position, and when the protective baffle is in the closed position, using the manipulator Retrieving groups of packaging sleeves from a buffer station for stacking groups of packaging sleeves wrapped in 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.
  • the automatic feeding method further includes: using a feed progress sensor to sense the number of packaging sleeves in the packaging sleeve rail; The quantity of the grouped packaging sleeve wrapped by film; When the quantity satisfies the second predetermined condition, a manipulator is used to take groups of packaging sleeves from the feeding station to the buffering station.
  • the manipulator includes a first end effector and a second end effector, and the group 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 feed rail 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.
  • the processing station also includes positioning means and turning means.
  • the method also includes: using the positioning device to sense the orientation of the group of packaging sleeves, and when the orientation of the group of packaging sleeves is sensed to be incorrect, using the turning device to turn the group of 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.
  • 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 recovery station; using a manipulator to move the removed outer packaging film to the film collection station; and use the manipulator to move the separator to the separator recycling station.
  • the groups of packaging sleeves are stacked at the feeding station into a plurality of layers, each layer comprising a plurality of groups of packaging sleeves arranged in an array, and each layer is separated by a spacer.
  • Fig. 1 shows a schematic top view of an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure
  • Fig. 2 shows a schematic block diagram of an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure
  • Fig. 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
  • Fig. 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
  • 5A-5C show a schematic diagram 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.
  • Fig. 6 shows an automatic feeding method for packaging sleeves according to an embodiment of the present disclosure
  • Fig. 7 is a schematic structural view 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 schematic diagram 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 assembly of the film removal device shown in Fig. 7;
  • Example 11 is a schematic diagram of the positional relationship of the 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 perspective structural 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 film removal device shown in Fig. 12;
  • Fig. 14 is a schematic diagram of the movement path of the first cutting component of the film removal device shown in Fig. 12 on the material;
  • Figure 15 is a schematic diagram of the structure of the film removal device shown in Figure 12 located in the feed channel;
  • Fig. 16 is a schematic structural view of the first cutting assembly and the first driving assembly in the film removal device shown in Fig. 12;
  • Fig. 17 is a schematic structural view of a second cutting assembly and a second driving assembly in the film removal device shown in Fig. 12;
  • Fig. 18 is a schematic diagram of the movement path of the first cutting assembly and the second cutting assembly on the material of the film removal device shown in Fig. 12;
  • Fig. 19 is a schematic diagram of the structure of the film removal device shown in Fig. 12 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;
  • Fig. 22 is a schematic diagram of the bottom dust removal structure of the dust removal mechanism of the film removal device shown in Fig. 12;
  • Fig. 23 is a schematic diagram of the top dust removal structure of the dust removal mechanism of the film removal device shown in Fig. 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 bag recovery 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 paper separator recovery device in the closed state of the packaging sleeve automatic feeding system 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 separation paper recovery device in the automatic feeding system for packaging sleeves according to an embodiment of the present disclosure.
  • 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 a state in which the stacking direction of the packaging sleeves is parallel to the feeding direction.
  • groups of packaging sleeves are overwrapped to prevent contamination during transport. Therefore, it is necessary to manually remove the outer wrapping film covering the grouped packaging sleeves before providing them and then supplying them in the correct orientation to the packaging sleeve infeed.
  • 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 a packaging sleeve material rail, the packaging sleeve material rail extends in the feeding direction, and the packaging sleeve material rail extends in the feeding direction.
  • a group of packaging sleeves includes a plurality of packaging sleeves stacked together, and the group of packaging sleeves is provided into the packaging sleeve rail in a state where 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 the grouped packaging sleeves stacked together, each said grouped packaging sleeve being wrapped by an outer packaging film; a processing station including a defilming device , which removes the outer packaging film from the group of packaging sleeves; the manipulator; and the controller, which is configured to control the manipulator to take the group of packaging sleeves from the feeding station to the processing station, and 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 rail.
  • the packaging sleeve automatic feeding system automatically processes the group of packaging sleeves through the processing station, and automatically transfers the group of packaging sleeves at the feeding station, processing station and packaging sleeve through the controller to control the manipulator. Transfer between barrel rails. Thus, it is allowed to carry out the feeding of the packaging sleeves automatically without human intervention.
  • the system includes a buffer station for stacking groups of packaging sleeves wrapped in an outer packaging film.
  • the infeed station includes a guard that is movable between a closed position that prevents the manipulator from entering the infeed station and an open position that allows the manipulator to enter the infeed station.
  • the controller is configured to: when receiving a user command indicating feeding, control the protective flap of the feeding station to move to the closed position, and then control the manipulator to take the group of packaging sleeves from the buffer station; Upon user command indicating completion of refilling, 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.
  • the manipulator can uninterruptedly take a group of packaging sleeves from one of the buffer station and the feeding station, thus ensuring that when the operator replenishes the material, it can also be carried out uninterruptedly.
  • the buffering station only needs to stack a significantly smaller number of groups of packaging sleeves than the feeding station, and its footprint is smaller than that of the feeding station, thus saving the footprint of the automatic feeding system. The land area reduces the production cost.
  • the feeding station 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.
  • the manipulator of the system includes a first end effector configured to provide the set of packaging sleeves with the overwrap film removed from the processing station to the packaging sleeve rail using the first end effector.
  • 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 relative 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.
  • 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.
  • the shutter pressure block allows the packaging sleeves placed in the packaging sleeve rail to be arranged next to each other, thus ensuring a continuous execution of the feeding.
  • the gate pressing block remove the existing packaging sleeves in the packaging sleeve material rail, and then make the packaging sleeves in groups against the existing packaging sleeves.
  • the gate briquetting block is recovered to press the updated packaging sleeves in the packaging sleeve material rail. This complex operation can be performed automatically by the first end effector. The first end effector ensures the fully automatic operation of the packaging sleeve automatic feeding system.
  • Fig. 1 shows a schematic top view of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure
  • Fig. 2 shows a schematic block diagram of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure.
  • the packaging sleeve automatic feeding system includes a feeding station 100, a processing station 200, a buffer station 400, a film collecting station 500, a defective product recycling station 600, and a paper recycling station. bit 700, manipulator 300 and controller 800.
  • the controller 800 is configured to work with one or more of the feeding station 100, the processing station 200, the buffer station 400, the film collecting station 500, the defective product recycling station 600, the septum recycling station 700, and the manipulator 300 Devices and manipulators 300 communicatively linked to 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 spacers, 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 multiple discrete sub-controllers. The controller 800 can also be connected with a remote server to remotely monitor and control the operation of the system, for example. The controller 800 can store the operating parameters of the system in a local storage medium or upload them to a remote server.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the infeed 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 feeding station 100 is wrapped with an outer packaging film.
  • the groups of packaging sleeves 920 may be stacked at the feeding station 100 into multiple layers, each layer comprising a plurality of groups of packaging sleeves 920 arranged in an array, and the layers are separated by spacers. In some cases, the uppermost set of packaging sleeves 920 may not be arranged in an array, but rather in random orientations.
  • the feeding station 100 may include a visual detection device for detecting the orientation of the group of packaging sleeves 920 to facilitate the positioning of the group of packaging sleeves 920 and the grasping thereof by the manipulator 300 .
  • the feeding station 100 may include a protective baffle 110 and a feeding safety door 120 .
  • a protective barrier 110 isolates the feed 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 feed from the outside of the system.
  • 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 moves to the closed position. Therefore, through the configuration of the action of the feed safety door 120 and the protective baffle 110, the safety of the operator is further guaranteed.
  • 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 so that they Correctly positioned overturning device 230, the film tearing device 210 that removes the outer packaging film from the grouped packaging sleeve 920, and the dust removal device that removes dust from the grouped packaging sleeve 920 after the outer packaging film is removed (not shown).
  • a positioning device 220 for sensing the orientation of the group of packaging sleeves 920, for turning the group of packaging sleeves 920 so that they Correctly positioned overturning device 230, the film tearing device 210 that removes the outer packaging film from the grouped packaging sleeve 920, and the dust removal device that removes dust from the grouped packaging sleeve 920 after the outer packaging film is removed (not shown).
  • 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 processing station 920 after the outer packaging film is removed.
  • Station 200 is provided into packaging sleeve rail 910 .
  • the buffer station 400 is also used for stacking groups of packaging sleeves 920 wrapped by outer packaging film, and is used to replace the feed station 100 when the operator performs a refill operation at the feed 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 storage station to the closed position.
  • Position 400 picks up the group of packaging sleeves 920; and when receiving a user command indicating completion of replenishment, controls the guard flap 110 of the feeding station 100 to move to the open position, and when the guard guard 110 is in the open position , the control manipulator 300 takes the packaging sleeve 920 in groups from the feeding station 100.
  • 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 the packaging sleeve feed rail 910 can be performed without interruption.
  • the controller 800 can be configured to take the group of packaging sleeves 920 from the buffer station 400 only when the protective flap 110 is moved to the closed position, without taking the group of packaging sleeves 920 from the buffer station 400
  • the number of groups of packaging sleeves 920 up to buffer station 400 is less than a predetermined margin, for example 1 group.
  • the number of groups of packaging sleeves 920 stored in the buffer station is much smaller than the number of groups of packaging sleeves 920 stored in the feeding station 100 .
  • the protective baffle 110 does not need to be arranged at the cache station 400 . Therefore, the footprint of the buffering station 400 is much smaller than that of the feeding station 100 .
  • the positioning device 220 (not shown in FIG. 1 ) is disposed near the turning device 230 and is configured to sense the orientation of the grouped packaging sleeve 920, which includes, for example, an image sensor for identifying the grouped packaging sleeve 920, such as a QR code or a barcode scanner, etc.
  • the overturning device 230 overturns the group of packaging sleeves 920 so that they are positioned correctly.
  • 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 overturning device 230, and when its sensing signal indicates that the grouped packaging sleeves 920 are correctly positioned, then the manipulator 300 can transport it to the unloading station.
  • Film device 210 when its sensing signal represents that the packaging sleeve 920 in groups is not correctly positioned, then the overturning device 230 makes the packaging sleeve 920 in groups turn over with 180°; when its sensing signal represents that it has been positioned
  • 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.
  • 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, and the defective product recovery station 600 is used to collect the grouped packaging sleeves 920 that cannot be correctly positioned at the turning device 230.
  • the paper recovery station 700 is used to collect separator paper disposed between layers of pack sleeves 920 in groups at the infeed station 100 .
  • the film collecting station 500, defective product recycling station 600 and spacer recycling station 700 can be respectively provided with devices for neatly placing or stacking collected outer packaging films, defective products and spacers.
  • the film collection station 500, the defective product recovery station 600, and the spacer paper recovery 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, such as Openings can be provided in the form of 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 recycling station through the opening 700 recycled separators.
  • the controller 800 is configured to: control the manipulator 300 to take the separator paper from the feeding station 100 to the separator recycling station 700; control the manipulator 300 to take the grouped packaging sleeves 920 from the feeding station 100 to the processing station 200
  • 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 .
  • 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 .
  • the provision of the transfer device contributes to reducing the operational load on the manipulator 300 .
  • 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 .
  • 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 can be performed synchronously.
  • the system can use the manipulator 300 to load materials faster than the packaging box forming device consumes 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. used when feeding.
  • 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 wrapped in the overwrapping film in the buffer station 400.
  • a quantity buffer quantity sensor (not shown) for the group of packaging sleeves 920 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 wrapped in the overwrapping film in the buffer station 400.
  • a quantity buffer quantity sensor (not shown) for the group of packaging sleeves 920 .
  • 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 a predetermined condition is met, the control manipulator 300 takes the grouped packaging sleeves 920 wrapped by the outer packaging film from the feeding station 100 to the buffer station 400 .
  • the plurality of packaging sleeve rails 910 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 the plurality of packaging sleeve rails 910 all include more than the first predetermined number of packaging sleeves
  • the second predetermined condition is that the buffer station 400 includes less than the second predetermined number of packaging sleeves wrapped by the outer packaging film.
  • Set of packing sleeves 920 is
  • the buffering 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 opposite to the packaging sleeve rail 910 in a direction parallel to the feeding direction J set up.
  • the bases of the processing station 200 and the manipulator 300 are arranged side by side in the transverse direction H perpendicular to the feed direction J, and are arranged between the packaging sleeve material rail 910 and the buffer station 400 and in the direction parallel to the feed direction J.
  • the base of the manipulator 300 and the feed station 100 are arranged opposite to the processing station 200 and the buffer station 400, respectively.
  • the packaging sleeve rail 910, both the processing station 200 and the base of the manipulator 300, and both the buffering station 400 and the feeding station 100 are arranged in sequence.
  • the processing station 200 and the buffer station 400 are on the left side of FIG. 1
  • the base of the manipulator 300 and the feeding station 100 are on the right side of FIG. 1 .
  • 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.
  • the feeding station 100 , the buffering station 400 , the processing station 200 and the packaging sleeve material rail 910 are sequentially arranged around the base on the movement trajectory of the manipulator 300 .
  • 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.
  • the buffer station 400 is closer to the processing station 200 on the movement track 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 contact between the manipulator 300 and the protective barrier is avoided. plate 110 interference.
  • 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 septum recovery station 700 is arranged on the buffer station in the horizontal direction H.
  • 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 collecting station 500 , a defective product recycling station 600 and a separator recycling station 700 are arranged in sequence.
  • the film collection station 500 and defective product recovery station 600 are arranged close to the processing station 200, and the septum recovery station 700 is arranged close to the buffer station 400 and the feeding station 100, it is convenient to carry out processing at the corresponding stations.
  • the collection operation of the corresponding items improves the operating efficiency of the system.
  • the film collection station 500, the defective product recovery station 600 and the spacer paper recovery station 700 are arranged at the outer periphery, the operator can conveniently take the corresponding items collected at the corresponding stations from the outside.
  • Fig. 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
  • Fig. 4 shows a packaging sleeve automatic feeding system according to an embodiment of the present disclosure
  • the end effector part of the manipulator 300 includes a first end effector 310 and a second end effector 320 .
  • 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 material 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, feeding the group of packaging sleeves 920 from the infeed station 100 Take it to processing station 200 and so on.
  • 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 switch between the first end effector 310 and the second end effector 320 .
  • 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, which is rotated by rotating the base of the end of the robotic arm. Switch between one end effector 310 and a 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 .
  • the suction cup 322 of the second end effector 320 can also be used to transfer the cut outer packaging film to the film collecting 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.
  • 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 clamping position and a release position in a second direction X perpendicular to the first direction Y to clamp groups of The sleeve 920 is packed so that it moves.
  • the pair of jaws 312 can avoid 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 pressure block 911 Press against the extreme packaging sleeve away from the box former.
  • FIGS. 5A-5C are schematic diagrams illustrating the operation of the first end effector 310 of the manipulator 300 of the packaging sleeve automatic loading 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 so that the second A direction Y is aligned with the stacking direction of a plurality of packaging sleeves in the group of packaging sleeves 920; Step S12, a pair of gripper jaws 312 grips the group of packaging sleeves 920 and places the group of packaging sleeves 920 on The packaging sleeve material rail 910 makes the stacking direction of a plurality of packaging sleeves in the grouped packaging sleeve 920 aligned with the feeding direction J of the packaging sleeve material rail 910; step S13, when the grouped packaging sleeve 920 is placed After reaching the packaging
  • 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, and 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 to move in the first direction Y. move up.
  • 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 .
  • Fig. 3 Fig. 4, Fig. 5A and Fig.
  • 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 packaging sleeve material
  • the pulling member 314 pulls the gate pressing block 911 in the first direction Y toward the endmost packaging sleeve.
  • the gate pressing block 911 is pivotally mounted to the packaging sleeve rail 910 and is configured to pivot to stop pressing the packaging sleeve around a vertical direction Z perpendicular to the feed direction J when pulled by the pulling member 314. Location. As shown in FIG.
  • 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 .
  • 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 torsion 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.
  • the first end effector 310 may also be provided with various sensors, such as a sensor for sensing that the first end effector 310 is in position on the packaging sleeve rail 910 together with a group of packaging sleeves 920 , A sensor for sensing the position of the puller 314, a sensor for sensing the position of the pusher 313, and the like.
  • the controller 800 may receive signals from various sensors to control corresponding components to perform the above operations.
  • the first end effector 310 may also have other configurations.
  • 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.
  • the automatic feeding system for packaging sleeves in Fig. 6 includes two feeding stations 100a, 100b, but does not include a buffer station.
  • the feed station 100a includes a feed safety door 120a and the feed station 100b includes a feed safety door 120b.
  • the two feeding stations 100a, 100b are not provided with protective baffles.
  • the manipulator 300 can 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 alternately be fed.
  • the manipulator 300 takes a group of packaging sleeves 920 from a specific feeding station 100a, 100b, the feeding safety door 120a, 120b of the 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.
  • the method can be implemented, for example, by using the automatic feeding system for packaging sleeves as described above.
  • 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 the manipulator 300 or overturning device 230 transports the grouped packaging sleeve 920 of correct positioning to the film removal device 210; step S24, utilizes 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 set of packaging sleeves 920 from the processing station 200 into the packaging sleeve material rail 910 after the outer packaging film has been removed.
  • the method may further include: using the manipulator 300 to take the spacer from the feeding station 100 to the spacer recovery 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;
  • the method also includes: in response to a user command indicating replenishment, moving the protective baffle 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 retrieve groups of packaging sleeves 920 from the buffer station 400 when the protective flap 110 is in the closed position.
  • the group of packaging sleeves 920 is picked up from the feeding station 100 by the manipulator 300 .
  • the packaging sleeve automatic feeding system may include a user interface for interaction with an operator.
  • the user interface can receive user commands from an operator and, for example, can transmit operating prompts to the operator.
  • the user interface may include a keypad, buttons, a display panel (eg, touch screen), and the like.
  • the method also includes: sensing the quantity of packaging sleeves in the packaging sleeve material rail 910 by using a feed progress sensor; the quantity of sleeve 920; When the second predetermined condition is met, the manipulator 300 is used to take the grouped packaging sleeves 920 from the feeding station 100 to the buffer station 400 .
  • 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 is performed using the second end effector.
  • the feeder 320 takes groups of packaging sleeves 920 from the feed 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 schematic structural view 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 schematic side view of the film removal device shown in Fig. 7
  • Fig. 9 is a schematic view of Fig. 7 Schematic diagram of the top view structure of the membrane dismantling device shown.
  • the first direction is parallel to the vertical direction and perpendicular to the horizontal direction; Wrapped sets of packaging sleeves.
  • the membrane tearing device of FIGS. 7 to 9 is an example of the membrane tearing device 210 described above.
  • the film removal device includes: a feeding channel a1, a feeding component a2, a support component a3 and a limit component a4, the feeding channel a1 extends along the first direction, and the feeding channel a1 has The cutting station, for example, in the vertical direction, a lower position in the feeding channel a1 is set as a cutting station; the feeding assembly a2 includes: a carrying plate located in the feeding channel a1 and moving along the first direction a21, and the first driving mechanism for driving the loading plate a21 to move in the first direction.
  • the loading plate a21 is used to carry the material and support it on the surface to be cut of the material.
  • the loading 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 assembly a3 is set at the cutting station, for example, two support assemblies a3 are provided, and the two The two support assemblies a3 are arranged on opposite sides of the feeding passage a1 respectively, and are arranged along the second direction in the horizontal direction. Each support assembly a3 includes a supporting surface, and the two supporting surfaces are respectively located on opposite sides of the feeding passage a1.
  • a limit assembly a4 is set around the feeding channel and above the support surface, limiting
  • the position assembly a4 includes a limit guide a41 located on the side of the feeding channel a1.
  • the limit guide a41 is located on the side of the support surface facing the cutting station. The limit guide a41 can move the material up and down around the feeding channel a1.
  • the movement plays a guiding role, and at least one set of limit guides a41 on the opposite sides of the feeding channel a1 is a limit clamp, and each limit clamp is connected with a second drive mechanism a42, the second The driving mechanism a42 is used to drive the position-limiting clamping parts to move towards or away from the material.
  • the two position-limiting clamping parts opposite to each other can move towards the material until the material is clamped and fixed.
  • the cutting assembly a5 is positioned below the support surface, and the cutting assembly a5 includes: a cutter assembly a51 positioned on the side of the support surface away from the cutting station, and a cutter assembly a51 for driving the cutter assembly a51 along the first
  • the third driving mechanism of the three-direction action the third direction is perpendicular to the first direction
  • 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
  • the component a51 is used to face 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 assembly a51 can cut the distance 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.
  • the material can include a plurality of stacked packaging sleeves, and the multiple stacked packaging sleeves are wrapped by an outer packaging film, which can be made of plastic
  • the film is, for example, a PE film.
  • 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, place it on the loading plate a21, the material enters the feeding channel, the surrounding limit guide a41 limits the horizontal direction of the material, and plays 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 supporting 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 supporting surfaces, and the material is then moved by the two The supporting surface is supported at 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 cutter assembly a51 to perform cutting operations, wherein at least the The two limit guides a41 in the
  • the opposite position-limiting clamp clamps and fixes the material.
  • the cutter assembly a51 of the cutting assembly a5 is in the initial position, and the cutter assembly is located on one side of the material in the third direction, and the cutter assembly a51 is in the third driving mechanism.
  • the cutter assembly 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 , open the outer packaging film on the bottom side of the material, and then return to the initial position under the drive of the third driving mechanism, the limit clamping parts on both sides of the material move away from the material, loosen the material, and then The second direction pulls the outer packaging film on the outside of the material to both sides, so that the outer packaging film on both sides is away from the material itself, or the limit clamping parts on both sides of the material move away from the material to loosen the material, First, 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 slightly separates the material from the supporting surface, and then pulls the outer packaging film on the outer side of the material to both sides along the second direction, Keep the outer packaging film on both sides away from the material itself, and then pull up the outer
  • the material is conveyed in the feeding channel a1 through the feeding component a2, and the material is clamped and fixed by the limit component a4 at the cutting station, and the cutting component a5 performs precise cutting under the material, and the outer packaging film of the material is Open, 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, and the labor intensity is reduced, and the film removal device is mechanized to remove the outer packaging film, which has high work efficiency and saves time and effort. It is beneficial to improve the production efficiency of the production line.
  • the above-mentioned film removal device also includes a work frame, and the above-mentioned feeding assembly a2, support assembly a3, limit assembly a4, and cutting assembly a5 are all installed on the work frame, and the work frame plays a role of support and connection. effect.
  • limit pressing members 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 arranged on both upward sides, so that the material is 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.
  • the first driving mechanism may include a lifting rod extending in the vertical direction, and a first power assembly 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
  • the top of the rod and in order to ensure the stability of the loading plate, a plurality of elevating rods are arranged in parallel, and the tops of the multiple elevating rods are connected with the loading plate a21 to jointly support the loading plate a21, so as to improve the stability of the loading plate a21,
  • the first The power pack may include, for example, a cylinder pack.
  • the second driving mechanism may include a push rod connected with the limit clamp, one end of the push rod is connected with the limit clamp, and the other end is connected with the second power assembly, and the second
  • the power component can also be a cylinder component.
  • the cylinder drives the limit clamp to move forward or backward to clamp or loosen the material. The action is fast and accurate, which is conducive to improving work efficiency.
  • 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 assembly, 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
  • the first guide rail is provided with a sliding block, which is connected with an extension plate extending toward the interval between the two supporting surfaces, and the cutting knife assembly a51 is installed on the extension plate so that the cutting knife assembly a51 can reach Below the interval between the two support surfaces, it is convenient to cut the surface of the material to be cut.
  • the flaring assembly a6 includes: for wrapping the outer packaging film on the side of the material along the second direction expansion sub-expansion assembly a61, the fourth drive mechanism a62 for driving the sub-expansion assembly a61 to move in the third direction, and the fifth drive mechanism a63 for driving the sub-expansion assembly a61 to move in the first direction.
  • the outer packaging film When film wrapping, for example, a plurality of packaging sleeves are stacked together, when packaging, the outer packaging film will leave gaps at both ends in the stacking direction, which is convenient for the outer packaging film to be opened, wherein the materials in this embodiment
  • the stacking direction of the packaging sleeve in the material is parallel to the third direction, that is, the gap on the outer packaging film is in the third direction, at a position of the initial position of the cutter assembly a51
  • the side is provided with a sub-expansion assembly a61, and the sub-expansion assembly a61 can approach the material under the drive of the fourth driving mechanism a62 before cutting by the cutter assembly, and align with the opening of the outer packaging film, and the sub-expansion assembly a61 extends into the outer packaging film In the gap, the outer packaging film at the gap is expanded outward along the second direction, and the gap is stretched to make it bigger.
  • the expansion assembly a61 moves downward,
  • the gap is always stretched downwards until it is vertically opposite to the cutter assembly, so that the cutter assembly a51 can cut the outer packaging film on this side of the gap, and then the cutter assembly a51 can be placed on the side of the initial position.
  • the gap on the side of the material starts to be cut, and the cutting opening of the material to be cut is connected with the side gap, that is, the side of the gap and the bottom side of the material are all opened, so that the outer packaging film is easier to separate from the material itself, and it is also convenient for bottom cutting More accurate and thorough.
  • the above-mentioned fourth driving mechanism may include a cylinder assembly, which includes a cylinder body and a piston rod, and the piston rod can expand and contract along the third direction.
  • the fifth drive mechanism can also be provided with a cylinder assembly, and the cylinder assembly can be a rodless cylinder assembly, which includes a cylinder body with a track on it, and an extension along the track installed on the cylinder body.
  • Direction action piston block for example, the extension direction of the track of the rodless cylinder is set along the vertical direction, the piston block moves up and down along the vertical direction, the fourth drive mechanism is installed on the piston block through the connecting plate, so that the expansion The assembly and the fourth driving mechanism can move up and down as a whole.
  • the sub-expansion assembly a61 may include two sub-expansion parts a611 that can approach or move away from each other along the second direction, and a sixth driving mechanism for driving the sub-expansion parts.
  • the first The six-drive mechanism may include a jaw cylinder, 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 to a split expander. Parts, so that the expansion part can expand the gap on the outer packaging film, which is very convenient and fast.
  • two flare assemblies a6 can be provided, and the flare assemblies a6 are arranged on both sides of the feeding channel a1 in the third direction, so that the two gaps of the outer packaging film of the material can be expanded and stretched before cutting After cutting, the gaps on the two sides of the material are connected with the cutting openings 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.
  • the cutter assembly a51 can include a cutter a511, and the side of the cutter facing the support surface is provided with a contact block a512 for contacting with the material, and the contact block a512
  • the end 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 can be inserted between the outer packaging film and the material at the front to hook the outer packaging film.
  • each film separation assembly a7 includes a grabbing assembly a71 for grabbing the cut outer packaging film and a seventh drive mechanism for driving the grabbing assembly a71 to move away from or close to the feeding channel a1, and the first side Upward, the grabbing assembly a71 is located between the support surface and the limit guide a41, for example, the grabbing assembly a71 can be a suction cup assembly a711, and each suction cup assembly a711 can include at least two vacuum suction cups distributed along the third direction , when the outer packaging film on the surface to be cut of the material is cut, under the drive of the seventh driving mechanism, the suction cup assembly a711 is close to the material, and the vacuum suction cup sucks air, and the outer packaging film on both sides of
  • each seventh drive mechanism may include a connecting shaft extending along a third direction and a plate member rotatably connected to the connecting shaft, and a drive connection with the plate member for driving the plate member to rotate
  • the fourth power assembly that the connecting shaft rotates, 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 lower edge of the plate can be far away from or close to the loading station, wherein the vacuum suction cup can be installed on the side of the plate facing the feeding channel, and at the position near the lower edge of the plate, the fourth power assembly drives the plate
  • the parts rotate around the connecting shaft, the board can be moved closer to the material so that the vacuum suction cup can grab the outer packaging film, and the board can also 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. It is conducive to improving work efficiency.
  • each support assembly a3 includes a support plate a31, And the eighth drive mechanism a32 for driving the support plate a31 to move along 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.
  • it can be adjusted
  • the width of the interval between the two support plates can adjust the support width of the edge of the material to better support the material.
  • 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.
  • the device is equipped with a dust removal device, dust removal settings: the dust removal plate a8 located on the side of the limit guide a41 away from the support assembly a3, and the top dust removal assembly installed on the side of the dust removal plate a8 away from the limit guide a41, and the dust removal plate a8 is provided with
  • the opening a81 opposite to and connected to the feeding channel a1 for example, the top dust removal assembly 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,
  • the ninth driving mechanism can be provided with a second guide rail a841 extending along the side parallel to the third direction in the opening, and a moving block slidingly connected with the second guide
  • 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 component, and the material after the outer packaging film has been removed is lifted up, and after taking it out, the material is placed 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 component 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 of the material Effect.
  • the overturning assembly a9 includes an overturning bracket, which can rotate around its own axis and is installed on the overturning bracket and
  • the reversible frame for carrying materials and the drive assembly for driving the reversible frame to rotate the rotation axis of the reversible frame is perpendicular to the first direction
  • the rotational axis of the reversible frame can be set parallel to the second direction
  • the camera assembly is set It is located on the 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.
  • the camera component recognizes the mark on the packing sleeve Preset logo, if the preset logo is the positive direction specified in the work, there is no need to flip the material, and the material can be directly taken out and placed at the entrance of the feeding channel. At this time, the surface to be cut is facing downward.
  • the drive 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 channel with the side to be cut facing downward , to avoid cutting mistakes on the outer packaging film of the material.
  • the overturning component a9 is an example of the overturning device 230 shown in FIGS. 1 and 2 .
  • the camera component is an example of the visual positioning device 220 shown in FIGS. 1 and 2 .
  • a code scanner that is located on the peripheral side of the overturned frame and used to detect the identification code on the material is also provided.
  • the code scanner can scan the two-dimensional code or barcode on the packaging sleeve in the material. Scan and record, or scan and record the identification code attached or sprayed on the outer packaging film, and record the cut materials.
  • 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.
  • the collection box a10 is provided in the film collection station 500 shown in FIGS. 1 and 2 .
  • Example 2 of the film removal device in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure.
  • the first direction is parallel to the vertical direction and perpendicular to the horizontal direction
  • the plane formed by the second direction and the third direction is a horizontal plane
  • the first direction, the second direction and the third direction are mutually Vertical; for example, when describing Figures 11 to 23, the material refers to the grouped packaging sleeves 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.
  • 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 The first cutting station and the second cutting station located at the feed port b11;
  • the film opening mechanism b2 includes: two first cutting assemblies b21 located at the first cutting station, the two first cutting assemblies 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 assemblies b21, and in each pair of first drive assemblies b22 and first cutting assemblies b21 corresponding to each other, the first drive assembly b22 drives the first cutting assembly b21 Moving along the first path a0, the first driving assembly b22 drives the first cutting assembly 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 angle between the directions is less than 180°;
  • the film opening mechanism b2 also includes: a second cutting assembly b23 located at the second cutting station, and a second driving assembly b24 for driving the second cutting assembly b23 to move along the second direction; wherein, the second cutting assembly b23 includes a cutting knife Part b231 and adsorption part b232, the adsorption part b232 is used to absorb the outer packaging film to form 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.
  • 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 Placed at the feed port b11, the film opening mechanism b2 includes two first cutting assemblies b21 and two first driving assemblies b22 corresponding to the two first cutting assemblies b21, a second cutting assembly b23 and a driving second cutting assembly b23
  • the second drive assembly b24 in action, the two first cutting assemblies b21 located at the first cutting station are arranged along the second direction, the first direction is perpendicular to the second direction, the first drive assembly b22 drives the first cutting assembly b21 to move,
  • the opposite two sides of the outer packaging film of material are cut, for example, in every pair of corresponding first driving assembly b22 and first cutting assembly b21, at first the first driving assembly b22 drives the first cutting assembly b21 along The first path a0 moves
  • the first path a0 also includes the first part a10 connected with the overlapping part s0
  • the second path b0 also includes the overlapping part In the second part b10 connected by s0, in the angle ⁇ 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 sides of the outer packaging film of the material along the second direction The two opposite sides are cut into a "Y" shape by the first cutting assembly.
  • the film opening mechanism b2 also includes a second cutting assembly b23 located at the second cutting station, the second driving assembly b24 drives the second cutting assembly b23 to move in the second direction, and the second cutting assembly 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 driving component 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 connecting surface between the sides is cut to form a third path c0 on the connecting surface.
  • the adsorption part b232 is used to absorb the outer packaging film to make 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.
  • the film opening mechanism b2 further includes: a suction cup assembly b25 located at the second cutting station, and the suction cup assembly b25 is used to absorb the outer packaging film so as to create a gap between the material and the outer packaging film.
  • the outer packaging film is sucked by the suction cup assembly b25 so that there is a gap between the material and the outer packaging film, so that when the second cutting assembly b23 is used to cut the outer packaging film, the material can be effectively protected.
  • the working process of the second cutting assembly b23 is as follows: the second driving assembly b24 drives the cutter part b231 in the second cutting assembly b23 to act together with the adsorption part b232, due to the adsorption part b232 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 using the cutter part b231 will not damage the inner packaging sleeve.
  • the removal process of the outer packaging film of the material is simple and reliable, reducing 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.
  • 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 turns over 180°, and then cuts from the middle to the other side.
  • 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 FIG. 17 .
  • the first driving assembly b22 that drives the first cutting assembly b21 will be described in detail below.
  • 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 so that the cutting film track b222 is in the first path a0 and switch between the second path b0;
  • the first cutting assembly b21 moves along the first path a0 or the second path b0, and the first cutting assembly b21 includes: a partition b211 and a knife seat b212 connected to the partition b211;
  • 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: b The fixed end of the telescopic part 221 moves along the extension direction of the switching track b224, and the free end of the telescopic part b221 is connected to the knife seat b212.
  • the partition b211 and the knife seat b212 move along the film cutting 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 switching plate along the
  • the movement in the second direction 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.
  • 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.
  • the suction film seat is vacuum adsorption, so that the cutting knife on the knife seat b212 can accurately cut the outer packaging film separated from the group of packaging sleeves, without damaging the inner packaging sleeve and the outer packaging film of the material
  • the removal process 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.
  • 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.
  • 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.
  • 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 work Strength, 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.
  • the film removal device further includes: a feeding mechanism b3 and a third drive assembly b4 that drives the feeding mechanism b3 to move along 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.
  • the material is put into the first storage bin b31 in the feeding mechanism b3 from the feed port b11, and a first opening is set in the first storage bin b31, and the material is placed in the first storage bin b31 from the first opening, and is passed through the membrane opening.
  • the mechanism b2 cuts the outer packaging film of the material placed in the first storage bin b31, and after the film opening mechanism b2 finishes cutting the outer packaging film, the third driving component b4 drives the feeding mechanism b3 to move along the first direction.
  • 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.
  • the feeding mechanism b3 also includes a first turning component b32, which is in transmission connection with the first storage bin b31 , the first storage compartment 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 compartment b31 are turned over by 90°.
  • the feeding mechanism b3 also includes: two suction film assemblies b33 and a fourth drive assembly b34 oppositely arranged along the third direction, the suction film assembly b33 is used to grab the cut outer packaging film, and the fourth drive assembly b34 is used to To drive the suction membrane component b33 close to or away from the feed channel.
  • the suction membrane assembly b33 includes a suction cup.
  • the number of suction cups can be selected according to needs.
  • Each suction film assembly b33 may include at least two suction cups distributed along the second direction, the suction cups are vacuum suction cups, and when the outer packaging film of the material to be cut is cut, driven by the fourth driving assembly b34, the suction cups The membrane component b33 is close to the material, and the vacuum suction cup sucks air to suck 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.
  • 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.
  • the pushing mechanism b7 includes a pushing component b71 and a fifth driving component b72.
  • the fifth driving component b71 can be an air cylinder or a hydraulic cylinder. stretchable structure.
  • the first storage bin b31 has a through groove opposite to the first opening, the pushing side of the pushing component b71 matches the through groove, and the fixed end of the pushing component b71 is connected to the fifth driving component b72;
  • the fifth driving component b72 drives the pushing component b71 to move along the third direction, and the pushing side of the pushing component b71 extends into or exits the first storage bin b31 from the through groove, so as to remove the materials located in the first storage bin b31 from which the outer packaging film is removed.
  • the push assembly b71 includes a push plate b711 and a limit rod b712, the push plate b711 The side 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.
  • the limit rod b712 is used to limit the movement direction of the push plate b712.
  • two limit rods b712 are arranged symmetrically with respect to the center of the push plate b711 set up.
  • 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.
  • 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.
  • 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.
  • the discharge mechanism 8 also includes a second overturning component b82.
  • the bin b81 is connected by transmission, and the second accommodating bin b81 is flipped over to switch the direction of the second opening between the first direction and the third direction.
  • 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 is removed.
  • 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.
  • dust removal can be performed on the material itself.
  • dust removal The mechanism b10 includes a top dust removal b110, and the top dust removal b110 includes a dust removal head b111.
  • the top dust removal b110 is located on the bottom surface of the grouped packaging sleeve, and the dust removal is driven by the top dust removal cylinder b112
  • the head b111 moves back and forth along the second direction to achieve dust suction on the bottom surface of the grouped packaging sleeves, and when the second storage bin b81 lifts the grouped packaging sleeves upward, and makes the grouped packaging sleeves and the outlet Stop when the top surface of the feed port is even, 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 impurities on the bottom surface of the grouped packaging sleeves. Dust, debris, etc.
  • the ventilation slot b1201 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.
  • the packaging sleeve automatic feeding system further includes: a film packet collecting device b12 for collecting the removed outer packaging film.
  • the membrane packet collecting device b12 is provided in the membrane collecting station 500 described with reference to FIGS. 1 and 2 .
  • the film bag collecting device b12 includes: a receiving bin b121, a discharge assembly b122 and a seventh drive assembly b123;
  • the receiving bin b121 has a connected collection port b1211 and a discharge port b1212, the discharge assembly b122 is arranged in the feed bin b121, and the seventh drive assembly b123 is in transmission connection with the discharge assembly b122 to transfer the outer packaging film from the collection port b1211 to discharge port b1212.
  • the outer packaging film is taken from the discharge port of the film removal device by the manipulator 300, and moved to the collection port b1211 of the receiving bin b121, and the outer packaging film is squeezed into the discharge elbow b123 through the discharge component b122, and then A collection bag is provided at the outlet of the material elbow b123 to recycle the outer packaging film in batches.
  • the discharge assembly b122 includes a first discharge screw b1221 , and the first discharge screw b1221 is in transmission connection with a seventh drive assembly b123 .
  • the seventh driving component is a driving motor, which drives the first discharge screw b1221 to rotate, and extrudes the outer packaging film into the discharge elbow b123 to complete the recovery of the outer packaging film.
  • the discharge assembly b122 further includes a second discharge screw b1222 engaged with 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 first discharge screw b1222.
  • the lower part is squeezed between the discharge screw b1221 and the second discharge screw b1222 to complete the recovery of the outer packaging film.
  • the separator paper is non-slip paper to increase the friction between each layer of packaging sleeves.
  • the packaging sleeve automatic feeding system further includes: a spacer recycling device b13 .
  • the separator recycling device b13 is set in the separator recycling station 700 shown in FIG. 1 and FIG. 2 .
  • 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 manipulator, and the pushing mechanism b132 pushes the spacer and drops it into the box b133, so as to realize the recycling of the spacer.
  • the septum recovering device b13 comprises a frame b134, an accommodating 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.
  • Fig. 28 shows that the separator recycling device b13 is in a closed state
  • Fig. 29 shows that the separator recycling device b13 is in an open state.
  • 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.

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

包装套筒自动上料系统和包装套筒的自动上料方法Automatic feeding system for packaging sleeve and automatic feeding method for packaging sleeve
相关申请的交叉引用Cross References to Related Applications
出于所有目的,本申请基于并且要求于2021年11月19日递交的中国专利申请第202111399363.3号和第202122876449.2号的优先权,本申请还基于并且要求于2022年4月14日递交的中国专利申请第202220866419.5号的优先权,本申请还基于并且要求于2022年9月14日递交的中国专利申请第202211115126.4号和第202222429180.8号的优先权,在此全文引用上述各中国专利申请公开的内容以作为本申请的一部分。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.
技术领域technical field
本公开的实施例涉及包装套筒自动上料系统和包装套筒的自动上料方法。Embodiments of the present disclosure relate to an automatic feeding system for packaging sleeves and an automatic feeding method for packaging sleeves.
背景技术Background technique
包装盒是用于承装内容物的盒装件,内容物可以是诸如奶、果汁等液体内容物,也可以是固体内容物。包装盒例如由片状材料形成,该片状材料的两端被结合在一起然后被压折以形成处于折叠状态的包装盒。该处于折叠状态的包装盒在本文中被称为包装套筒。The packaging box is a boxed piece for holding contents, which can be liquid contents such as milk, fruit juice, etc., 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 the folded state is referred to herein as a packaging sleeve.
包装盒成型装置用于使包装套筒成型为最终的包装盒,其例如将折叠的包装套筒的折叠部分分开,将底端封口,灌装内容物,然后再将顶端封口,以形成最终的产品。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.
目前,需要人工将用外包装膜包覆的成组的包装套筒的外包装膜移除,然后以正确的取向提供到包装套筒成型装置的包装套筒料轨,以供包装盒成型装置使用。随着人工成本的不断增高,需要用于自动地提供包装套筒的自动上料系统。Currently, groups of packaging sleeves covered with overwrap need to be manually removed from the outer wrapping film and then supplied to the packaging sleeve rail of the packaging sleeve forming device in the correct orientation for the box forming device. use. With the continuous increase of labor costs, an automatic feeding system for automatically providing packaging sleeves is required.
发明内容Contents of the invention
本公开的至少一实施例提供了一种包装套筒自动上料系统,其用于向包 装套筒料轨提供成组的包装套筒,包装套筒料轨在进给方向上延伸,成组的包装套筒包括堆叠在一起的多个包装套筒,且成组的包装套筒以多个包装套筒的堆叠方向与进给方向平行的状态被提供到包装套筒料轨中。该系统包括:进料工位,用于堆放堆叠在一起的多个成组的包装套筒,每个成组的包装套筒被外包装膜包裹;处理工位,包括拆膜装置,其将外包装膜从成组的包装套筒移除;机械手;以及控制器,控制器配置为控制机械手从进料工位拿取成组的包装套筒到处理工位,并且控制机械手将移除了外包装膜之后的成组的包装套筒从处理工位提供到包装套筒料轨中。At least one embodiment of the present disclosure provides an automatic feeding system for packaging sleeves, which is used to provide packaging sleeves in groups to the packaging sleeve material rail. The packaging sleeve material rail extends in the feeding direction, forming a group of The packaging sleeve includes a plurality of packaging sleeves stacked together, and the grouped packaging sleeves are 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 includes: a feeding station for stacking a plurality of groups of packaging sleeves stacked together, each group of packaging sleeves is wrapped by an outer packaging film; a processing station, including a film removal device, which will The outer packaging film is removed from the group of packaging sleeves; the manipulator; and a controller configured to control the manipulator to take the group of packaging sleeves from the infeed station to the processing station, and to control the manipulator 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.
例如,在一些实施例中,该包装套筒自动上料系统还包括:缓存工位,其用于堆放被外包装膜包裹的成组的包装套筒。进料工位包括能够在关闭位置和打开位置移动的防护挡板,在关闭位置时,防护挡板阻止机械手进入进料工位,在打开位置时,防护挡板允许机械手进入进料工位。该控制器配置为:当接收到指示补料的用户命令时,控制进料工位的防护挡板移动到关闭位置,并且在防护挡板处于关闭位置时,控制机械手从缓存工位拿取成组的包装套筒到处理工位;以及当接收到指示完成补料的用户命令时,控制进料工位的防护挡板移动到打开位置,并且在防护挡板处于打开位置时,控制机械手从进料工位拿取成组的包装套筒到处理工位。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, the guard guard prevents the manipulator from entering the feed station, and an open position, the guard guard allows the manipulator to enter the feed station. The controller is configured to: when receiving a user command indicating feeding, 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 receiving a user command indicating that the filling is completed, control the protective flap of the feeding station to move to the open position, and when the protective flap is in the open position, control the manipulator to move from the feeding station to the processing station; The material station takes the grouped packaging sleeves to the processing station.
例如,在一些实施例中,进料工位还包括进料安全门,通过其从系统的外部进行补料,控制器配置为,仅当进料工位的防护挡板移动到关闭位置才允许进料安全门打开。For example, in some embodiments, the feed station further includes a feed safety door through which refill is made from outside the system, and the controller is configured to allow feed only when the feed station guard is moved to the closed position. The material safety door opens.
例如,在一些实施例中,缓存工位和进料工位在垂直于进给方向的横向方向上并排设置,并在与进给方向平行的方向上与包装套筒料轨相对设置。处理工位和机械手的基座在垂直于进给方向的横向方向上并排设置,并在与进给方向平行的方向上设置在包装套筒料轨与缓存工位和进料工位之间。并且,在垂直于进给方向的横向方向上,机械手的基座和进料工位分别与处理工位和缓存工位相对设置。For example, in some embodiments, the buffering station and the feeding station are arranged side by side in a transverse direction perpendicular to the feeding direction and opposite to the packaging sleeve rail in a direction parallel to the feeding 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 between the packaging sleeve rail and the buffer station and the feeding station in a direction parallel to the feeding direction. Moreover, 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.
例如,在一些实施例中,机械手可旋转地安装到基座,进料工位、缓存工位、处理工位以及包装套筒料轨围绕基座在机械手的运动轨迹上依次设置。For example, in some embodiments, the manipulator is rotatably mounted on the base, and the feeding station, the buffering station, the processing station and the packaging sleeve rail are sequentially arranged around the base on the movement track of the manipulator.
例如,在一些实施例中,该包装套筒自动上料系统还包括:进料进度传感器,其配置为感测包装套筒料轨中的包装套筒的数量;以及缓存数量传感 器,其配置为感测缓存工位中的被外包装膜包裹的成组的包装套筒的数量。该控制器配置为:当包装套筒料轨中的包装套筒的数量满足第一预定条件并且缓存工位中的被外包装膜包裹的成组的包装套筒的数量满足第二预定条件时,控制机械手从进料工位拿取被外包装膜包裹的成组的包装套筒到缓存工位。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 The number of sets of packaging sleeves wrapped in the overwrap film in the buffer station is sensed. 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 , control the manipulator to take the grouped packaging sleeves wrapped by the outer packaging film from the feeding station to the buffering station.
例如,在一些实施例中,包装套筒料轨为多个,第一预定条件是多个包装套筒料轨中均包括大于第一预定数量的包装套筒,第二预定条件是缓存工位包括少于第二预定数量的被外包装膜包裹的成组的包装套筒。For example, in some embodiments, there are multiple packaging sleeve rails, and the first predetermined condition is that the multiple packaging sleeve rails all include more than the first predetermined number of packaging sleeves, and the second predetermined condition is that the buffer station A set of packaging sleeves wrapped in an overwrap film includes less than a second predetermined number.
例如,在一些实施例中,机械手包括第一末端执行器,机械手配置为利用第一末端执行器将移除了外包装膜后的成组的包装套筒从处理工位提供到包装套筒料轨。该第一末端执行器包括第一基部和安装到第一基部的一对夹爪、推动件和拉动件。一对夹爪相对于第一基部在第一方向上延伸并且配置为在垂直于第一方向的第二方向上在夹取位置和释放位置之间移动,推动件具有垂直于第一方向的推动面,拉动件配置为能够附接到成组的包装套筒并且能够在第一方向上移动。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 stock with the outer packaging film removed. 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.
例如,在一些实施例中,控制器配置为:控制机械手以移动第一基部使得第一方向与成组的包装套筒中的多个包装套筒的堆叠方向对齐;控制一对夹爪夹取成组的包装套筒并且将成组的包装套筒放置到包装套筒料轨;当成组的包装套筒被放置到包装套筒料轨后,控制推动件在堆叠方向上推动成组的包装套筒;以及控制拉动件在推动件推动成组的包装套筒的同时,拉动包装套筒料轨的闸门压块在堆叠方向上移动直到推动件的推动面附近以使得闸门压块能够释放以按压包装套筒。闸门压块在进给方向上按压包装套筒料轨中的包装套筒,闸门压块配置为在被拉动件拉动时,能够围绕垂直于进给方向的竖直方向枢转到停止按压包装套筒的位置。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 set of packaging sleeves; Group the packaging sleeves and place the groups of packaging sleeves on the packaging sleeve material rail; when the groups of packaging sleeves are placed on the packaging sleeve material rail, the control pusher pushes the grouped packaging sleeves in the stacking direction and control the pulling member. While the pusher pushes the grouped packaging sleeve, the gate pressing block that pulls the packaging sleeve material rail moves in the stacking direction until near the pushing surface of the pusher so that the gate pressing block can be released to press Packing sleeve. The gate press block presses the packaging sleeve in the packaging sleeve rail in the feed direction, the gate press block is configured to pivot around a vertical direction perpendicular to the feed direction to stop pressing the packaging sleeve when pulled by the pulling member barrel position.
例如,在一些实施例中,机械手还包括第二末端执行器,机械手配置为利用第二末端执行器将成组的包装套筒从进料工位拿取到处理工位,第二末端执行器包括吸盘。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 a suction cup .
例如,在一些实施例中,该处理工位还包括除尘装置,其配置为对移除了外包装膜后的成组的包装套筒进行除尘。For example, in some embodiments, the processing station further includes a dedusting device configured to dedust the set of packaging sleeves after the outer packaging film has been removed.
例如,在一些实施例中,该处理工位还包括定位装置和翻转装置,该定 位装置感测成组的包装套筒的取向,该翻转装置用于使成组的包装套筒翻转以使其正确定位。For example, in some embodiments, the processing station further 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 so that they Correct positioning.
例如,在一些实施例中,该包装套筒自动上料系统还包括:膜收集工位,其收集从成组的包装套筒移除的外包装膜;不良品回收工位,其收集无法正确定位的成组的包装套筒;以及隔纸回收工位,其收集隔纸。成组的包装套筒在进料工位处堆叠成多个层,每个层包括阵列布置的多个成组的包装套筒,并且多个层由隔纸隔开。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 positioned group of packaging sleeves; and a separator recycling station which collects the separator. The groups of packaging sleeves are stacked at the feeding station into a plurality of layers, each layer comprising a plurality of groups of packaging sleeves arranged in an array, and the layers are separated by spacers.
例如,在一些实施例中,控制器配置为:控制机械手从拆膜装置处拿取被移除的外包装膜到膜收集工位,控制机械手从翻转装置处拿取无法正确定位的成组的包装套筒到不良品回收工位,并且控制机械手从进料工位拿取隔纸到隔纸回收工位。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, and control the manipulator to take the grouped packaging film that cannot be correctly positioned from the turning device. The packaging sleeve goes to the defective product recovery station, and the manipulator is controlled to take the separator paper from the feeding station to the separator paper recovery station.
例如,在一些实施例中,缓存工位和进料工位在垂直于进给方向的横向方向上并排设置,并在与进给方向平行的方向上与包装套筒料轨相对设置,处理工位和机械手的基座在垂直于进给方向的横向方向上并排设置,并在与进给方向平行的方向上设置在包装套筒料轨与缓存工位和进料工位之间。并且,在垂直于进给方向的横向方向上,机械手的基座和进料工位分别与处理工位和缓存工位相对设置,膜收集工位在垂直于进给方向的横向方向上设置在处理工位的远离机械手的基座的一侧,隔纸回收工位在垂直于进给方向的横向方向上设置在缓存工位的远离进料工位的一侧,膜收集工位、不良品回收工位和隔纸回收工位在与进给方向平行的方向上依次设置系统的外周处。For example, in some embodiments, the buffering 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, and the processing station The position and the base of the manipulator are arranged side by side in the transverse direction perpendicular to the feeding direction, and are arranged between the packaging sleeve material rail and the buffering station and the feeding station in a direction parallel to the feeding direction. 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, and the film collecting station is arranged in the transverse direction perpendicular to the feeding direction. The side of the processing station away from the base of the manipulator, the septum recycling station is set on the side of the buffer station away from the feeding station in the transverse direction perpendicular to the feeding direction, the film collecting station, defective products The recovery station and the spacer recovery station are sequentially arranged at the outer periphery of the system in a direction parallel to the feeding direction.
例如,在一些实施例中,所述拆膜装置包括:沿第一方向延伸的上料通道,所述上料通道内具有切割工位;上料组件,所述上料组件包括:位于所述上料通道内且沿所述第一方向动作的承载板、以及用于驱动所述承载板动作的第一驱动机构,所述承载板用于承载物料且支撑于所述物料的待切割面;沿第二方向排列且分别位于所述上料通道相对的两侧的两个支撑组件,所述第二方向与所述第一方向垂直,所述支撑组件具有支撑面,在所述第二方向上,所述承载板位于两个所述支撑面之间,两个所述支撑面用于分别支撑所述物料的待切割面的两个相对的侧边部,当所述物料位于所述切割工位时,所述物料支撑于两个所述支撑面上;限位组件,所述限位组件包括位于所述上料通道周侧的限位导向件,所述限位导向件位于所述支撑面朝向所述切割 工位的一侧;且所述上料通道周侧中至少相对的两侧的限位导向件为限位压紧件,各所述限位夹紧件连接有第二驱动机构,所述第二驱动机构用于驱动所述限位压紧件沿靠近或远离所述物料的方向动作;切割组件,所述切割组件包括:位于所述支撑面背离所述切割工位的一侧的割刀组件、以及用于驱动所述割刀组件沿第三方向动作的第三驱动机构,所述第三方向与所述第一方向垂直,且所述第三方向与所述第二方向垂直,所述割刀组件用于与所述物料的待切割面相对并切割所述物料的外包装膜。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 assembly, the feeding assembly includes: A loading plate 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 materials and support on the surface to be cut of the materials; Two support assemblies 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 support assemblies have a support surface, and in the second direction Above, the bearing plate is located between the two supporting surfaces, and the two supporting surfaces are used to respectively support the two opposite sides of the material to be cut. During the station, the material is supported on the two supporting surfaces; the limit assembly, the limit assembly includes a limit guide located on the side of the feeding channel, and the limit guide is located on the The supporting surface faces one side of the cutting station; and the limit guides on at least two opposite sides of the surrounding side of the feeding channel are limit pressing members, and each limit clamping member is connected with a second The driving mechanism, the second driving mechanism is used to drive the position-limiting pressing member to move in the direction of approaching or away from the material; the cutting assembly, the cutting assembly includes: located on the support surface away from the cutting station A cutter assembly on one side of the cutter assembly, and a third drive mechanism for driving the cutter assembly to move in a third direction, the third direction is perpendicular to the first direction, and the third direction is in line with the The second direction is vertical, and the cutter assembly is used to face the surface of the material to be cut and cut the outer packaging film of the material.
例如,在一些实施例中,在所述第三方向上,所述上料通道中至少与所述割刀组件的初始位置对应的一侧设置有扩口组件,所述扩口组件包括:用于将所述物料侧面的外包装膜沿所述第二方向扩张的分扩组件、用于驱动所述分扩组件沿所述第三方向动作的第四驱动机构、以及用于驱动所述分扩组件沿所述第一方向动作的第五驱动机构。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 assembly is provided with a flaring assembly, and the flaring assembly includes: A splitting assembly for expanding the outer packaging film on the side of the material along the second direction, a fourth driving mechanism for driving the splitting assembly to move along the third direction, and a fourth driving mechanism for driving the splitting assembly A fifth drive mechanism for moving the assembly in said first direction.
例如,在一些实施例中,所述分扩组件包括两个可沿所述第二方向彼此靠近或远离的分扩件、以及用于驱动所述分扩件动作的第六驱动机构。For example, in some embodiments, the expander assembly includes two expanders that can approach or move away from each other along the second direction, and a sixth driving mechanism for driving the expanders to move.
例如,在一些实施例中,在所述第三方向上,所述上料通道的两侧均设置有所述扩口组件。For example, in some embodiments, in the third direction, both sides of the feeding channel are provided with the flaring components.
例如,在一些实施例中,所述割刀组件包括割刀,所述割刀朝向所述支撑面的一侧设置有用于与所述物料接触的接触块,且所述接触块与所述割刀的刀刃同向的一端超过所述刀刃以形成探出部,所述探出部的自由端为“V”形结构,所述“V”形结构的尖端与所述割刀的刀刃同向设置。For example, in some embodiments, the cutter assembly 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.
例如,在一些实施例中,所述拆膜装置还包括:在所述第二方向上分别位于所述上料通道相对的两侧的两个分膜组件,每个所述分膜组件包括用于抓取切割后的外包装膜的抓取组件和用于驱动所述抓取组件沿远离或靠近所述上料通道动作的第七驱动机构,在第一方向上,所述抓取组件位于所述支撑面和限位导向件之间。For example, in some embodiments, the membrane splitting device further includes: two membrane separation assemblies respectively located on opposite sides of the feeding channel in the second direction, each of the membrane separation assemblies includes The grabbing component for grabbing the cut outer packaging film and the seventh driving mechanism for driving the grabbing component to move away from or close to the feeding channel, in the first direction, the grabbing component is located at between the support surface and the limiting guide.
例如,在一些实施例中,所述抓取组件包括吸盘组件。For example, in some embodiments, the gripper assembly includes a suction cup assembly.
例如,在一些实施例中,每个所述支撑组件包括支撑板、以及用于驱动所述支撑板沿所述第二方向动作的第八驱动机构,所述支撑板的顶面形成所述支撑面。For example, in some embodiments, each of the support assemblies 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.
例如,在一些实施例中,所述上料通道中在所述第二方向上的两侧分别 设置有所述限位压紧件;且所述上料通道中在所述第三方向上的两侧分别设置有所述限位压紧件。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.
例如,在一些实施例中,对应于所述拆膜装置设置有:位于所述限位导向件背离所述支撑组件一侧的除尘板、以及安装于所述除尘板背离所述限位导向件一侧的顶部除尘组件,所述除尘板上设置有与所述上料通道相对且连通的开口。For example, in some embodiments, corresponding to the film removal device, there are provided: a dust removal plate located on the side of the limit guide away from the support assembly, and a dust removal plate installed on the side of the limit guide away from the limit guide One side of the top dust removal assembly, the dust removal plate is provided with an opening opposite to and communicating with the feeding channel.
例如,在一些实施例中,所述顶部除尘组件包括:吸尘部、以及用于驱动所述吸尘部沿所述开口的一侧边的延伸方向动作的第九驱动机构。For example, in some embodiments, the top dust removal assembly 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.
例如,在一些实施例中,所述除尘板还设置有通风槽,所述通风槽连接有底部吸尘组件。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 components.
例如,在一些实施例中,对应于所述拆膜装置还设置有:翻转组件,所述翻转组件包括翻转支架、可绕自身轴线旋转的安装于所述翻转支架且用于承所述载物料的翻转框体、以及用于驱动所述翻转框体转动的驱动组件,所述翻转框体的转动轴线与所述第一方向垂直;设于所述翻转框体的周侧且用于检测所述物料上的预设标识的摄像组件。For example, in some embodiments, corresponding to the film tearing device, there is also an overturning assembly, the overturning assembly includes an overturning bracket, and is installed on the overturning bracket that can rotate around its own axis and is used to bear the material. The reversible frame body, and the driving assembly for driving the rotation of the reversible frame body, the rotation axis of the reversible frame body is perpendicular to the first direction; it is arranged on the peripheral side of the reversible frame body and used for detecting Camera components with preset marks on the above materials.
例如,在一些实施例中,对应于所述拆膜装置还设置有设于所述翻转框体的周侧且用于检测所述物料上识别码的扫码器。For example, in some embodiments, corresponding to the film tearing device, a code scanner is provided on the peripheral side of the reversing frame and used to detect the identification code on the material.
例如,在一些实施例中,对应于所述拆膜装置设置有收集拆除的外包装膜的收集箱。For example, in some embodiments, a collection box for collecting the removed outer packaging film is provided corresponding to the film removal device.
例如,在一些实施例中,所述拆膜装置包括:沿第一方向延伸的进料通道,所述进料通道具有进料口,所述进料通道具有第一切割工位和位于所述进料口的第二切割工位;开膜机构,所述开膜机构包括:位于所述第一切割工位的两个第一切割组件,所述两个第一切割组件沿第二方向相对设置,所述第一方向与所述第二方向垂直;与两个所述第一切割组件对应设置的两个第一驱动组件,在每一对相互对应的第一驱动组件和第一切割组件中,第一驱动组件驱动第一切割组件沿第一路径运动,第一驱动组件驱动第一切割组件沿第二路径运动,所述第一路径与所述第二路径包括重合部分,所述重合部分与所述第一方向平行;所述第一路径还包括与重合部分连接的第一部分,所述第二路径还包括与重合部分连接的第二部分,所述第一部分与所述第二部分所成角度中,开口朝向所述进料口方向的夹角小于180°;所述开膜机 构还包括:位于所述第二切割工位的第二切割组件,用于驱动所述第二切割组件沿第二方向运动的第二驱动组件;其中,所述第二切割组件包括割刀部和吸附部,所述吸附部用于将所述外包装膜吸附以将所述物料与所述外包装膜存在缝隙,所述第二驱动组件驱动所述割刀部沿所述第二方向运动。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 is located at the The second cutting station of the feed port; the film opening mechanism, the film opening mechanism includes: two first cutting assemblies located at the first cutting station, and the two first cutting assemblies are opposite along the second direction It is set that the first direction is perpendicular to the second direction; the two first drive assemblies corresponding to the two first cutting assemblies, each pair of the first drive assembly and the first cutting assembly corresponding to each other Among them, the first driving assembly drives the first cutting assembly to move along the first path, the first driving assembly drives the first cutting assembly to move along the second path, the first path and the second path include overlapping parts, and the overlapping The part is parallel to the first direction; the first path also includes a first part connected to the overlapping part, the second path also includes a second part connected to the overlapping part, and the first part and the second part In the formed angle, the angle between the opening and the direction of the feeding port is less than 180°; the film opening mechanism also includes: a second cutting assembly located at the second cutting station, used to drive the second cutting A second drive assembly that moves along the second direction; wherein, the second cutting assembly includes a cutter part and an adsorption part, and the adsorption part is used to adsorb the outer packaging film to separate the material from the outer packaging film. There is a gap in the packaging film, and the second drive assembly drives the cutter part to move along the second direction.
例如,在一些实施例中,所述开膜机构还包括:位于所述第二切割工位的吸盘组件,所述吸盘组件用于将所述外包装膜吸附以将所述物料与所述外包装膜存在缝隙。For example, in some embodiments, the film opening mechanism further includes: a suction cup assembly located at the second cutting station, the suction cup assembly is used to absorb the outer packaging film to separate the material from the outer packaging film. There is a gap in the wrapping film.
例如,在一些实施例中,所述第一驱动组件包括:伸缩部、割膜轨道、切换板和沿第三方向延伸的切换轨道,所述第三方向与所述第一方向垂直,所述第三方向与所述第二方向垂直,所述切换板沿所述第二方向运动以使所述割膜轨道在所述第一路径和所述第二路径之间切换;所述第一切割组件沿所述第一路径或所述第二路径方向运动,所述第一切割组件包括:分隔部和与所述分隔部连接的刀座;其中,所述伸缩部的固定端沿所述切换轨道的延伸方向运动,所述伸缩部的自由端与所述分隔部连接。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 assembly moves along the first path or the second path, and the first cutting assembly 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.
例如,在一些实施例中,所述分隔部包括吸膜座,所述吸膜座用于将物料的外包装膜吸附。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.
例如,在一些实施例中,所述分隔部包括吹膜座,所述吹膜座用于将物料的外包装膜吹起。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.
例如,在一些实施例中,所述伸缩部包括气缸。For example, in some embodiments, the telescoping portion includes an air cylinder.
例如,在一些实施例中,所述包装套筒自动上料系统的拆膜装置还包括:进料机构和驱动所述进料机构沿所述第一方向动作的第三驱动组件;所述进料机构包括位于所述进料通道内的第一容纳仓,所述第一容纳仓具有与所述进料口对应的第一开口,所述第一容纳仓用于承载所述物料。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.
例如,在一些实施例中,所述进料机构还包括第一翻转组件,所述第一翻转组件与所述第一容纳仓传动连接,所述第一容纳仓翻转以使所述第一开口的朝向在所述第一方向和所述第三方向之间切换。For example, in some embodiments, the feeding mechanism further includes a first overturning component, the first overturning component 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 switched between the first direction and the third direction.
例如,在一些实施例中,所述进料机构还包括:沿所述第三方向相对设置的两个吸膜组件和第四驱动组件,所述吸膜组件用于抓取切割后的外包装膜,所述第四驱动组件用于驱动所述吸膜组件靠近或远离所述进料通道。For example, in some embodiments, the feeding mechanism further includes: two suction film assemblies and a fourth drive assembly oppositely arranged along the third direction, the suction film assembly is used to grab the cut outer packaging membrane, the fourth driving component is used to drive the suction membrane component to approach or move away from the feeding channel.
例如,在一些实施例中,所述吸膜组件包括吸盘。For example, in some embodiments, the suction membrane assembly includes a suction cup.
例如,在一些实施例中,所述包装套筒自动上料系统的拆膜装置还包括:沿所述第三方向延伸的输送通道,且所述输送通道与所述进料通道连通;与所述进料通道平行的出料通道,且所述进料通道与所述输送通道连通,所述出料通道具有出料口。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.
例如,在一些实施例中,所述包装套筒自动上料系统的拆膜装置还包括:位于所述输送通道的推送机构,所述推送机构包括推送组件和第五驱动组件;所述第一容纳仓具有与所述第一开口相对的贯穿槽,所述推送组件的推送侧与所述贯穿槽匹配,所述推送组件的固定端与所述第五驱动组件连接;所述第五驱动组件驱动所述推送组件沿所述第三方向运动,所述推送组件的推送侧从所述贯穿槽伸入或退出所述第一容纳仓,以将位于所述第一容纳仓内的拆除外包装膜的物料推至所述出料通道处。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 component and a fifth driving component; the first The accommodating bin has a through groove opposite to the first opening, the pushing side of the push assembly matches the through groove, and the fixed end of the push assembly is connected to the fifth drive assembly; the fifth drive assembly Driving the push assembly to move along the third direction, the push side of the push assembly extends into or out of the first storage compartment from the through slot, so as to dismantle the outer package located in the first storage compartment The material of the membrane is pushed to the discharge channel.
例如,在一些实施例中,所述推送组件包括推送板和限位杆,所述推送板远离所述推送侧的一侧为安装侧,所述第五驱动组件与所述安装侧连接,所述限位杆沿所述第五驱动组件的运动方向设置,且与所述安装侧连接。For example, in some embodiments, the push assembly includes a push plate and a limit rod, the side of the push plate away from the push 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.
例如,在一些实施例中,所述包装套筒自动上料系统的拆膜装置还包括出料机构和驱动所述出料机构沿所述第一方向动作的第六驱动组件;所述出料机构包括位于所述出料通道内的第二容纳仓,所述第二容纳仓具有与所述出料口对应的第二开口,所述第二容纳仓用于承载拆除外包装膜的物料。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.
例如,在一些实施例中,所述出料机构还包括第二翻转组件,所述第二翻转组件与所述第二容纳仓传动连接,所述第二容纳仓翻转以使所述第二开口的朝向在所述第一方向和所述第三方向之间切换。For example, in some embodiments, the discharge mechanism further includes a second overturning component, the second overturning component 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 switched between the first direction and the third direction.
例如,在一些实施例中,所述包装套筒自动上料系统还包括除尘机构,所述除尘机构位于在所述出料通道,对拆除外包装膜的物料进行除尘。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.
例如,在一些实施例中,所述包装套筒自动上料系统还包括:用于收集拆除的外包装膜的膜包收集装置。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.
例如,在一些实施例中,所述膜包收集装置包括:接料仓、出料组件和第七驱动组件;所述接料仓具有连通的收集口和放料口,所述出料组件设置在所述接料仓内,所述第七驱动组件与所述出料组件传动连接,将外包装膜从所述收集口传送至所述放料口。For example, in some embodiments, the film packet collecting device includes: a receiving bin, a discharge assembly and a seventh drive assembly; the receiving bin has a connected collection port and a discharge port, and the discharge assembly is set In the material receiving bin, the seventh drive assembly is in transmission connection with the discharge assembly to transfer the outer packaging film from the collection port to the discharge port.
例如,在一些实施例中,所述出料组件包括第一出料螺杆,所述第一出 料螺杆与所述第七驱动组件传动连接。For example, in some embodiments, the discharge assembly includes a first discharge screw, and the first discharge screw is in transmission connection with the seventh drive assembly.
例如,在一些实施例中,所述出料组件还包括与所述第一出料螺杆啮合的第二出料螺杆。For example, in some embodiments, the tapping assembly further includes a second tapping screw engaged with the first tapping screw.
例如,在一些实施例中,所述包装套筒自动上料系统还包括:隔纸回收装置。For example, in some embodiments, the packaging sleeve automatic feeding system further includes: a spacer recycling device.
例如,在一些实施例中,所述隔纸回收装置包括用于放置隔纸的放置平台、推送机构和箱体;所述推送机构用于推送放置在所述放置平台的隔纸掉落至所述箱体内。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.
例如,在一些实施例中,所述隔纸回收装置包括机架、容纳箱和放置杆;所述容纳箱可转动的安装在所述机架上,用于放置隔纸的所述放置杆设置在所述容纳箱内。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.
本公开的至少一实施例提供一种包装套筒的自动上料方法,其用于向包装套筒料轨提供成组的包装套筒,包装套筒料轨在进给方向上延伸,成组的包装套筒包括堆叠在一起的多个包装套筒,且成组的包装套筒以多个包装套筒的堆叠方向与进给方向平行的状态被提供到包装套筒料轨中。该方法包括:利用机械手从进料工位拿取成组的包装套筒到处理工位,进料工位用于堆放堆叠在一起的多个成组的包装套筒,每个成组的包装套筒被外包装膜包裹,处理工位包括拆膜装置;利用拆膜装置将外包装膜从成组的包装套筒移除;以及利用机械手将移除了外包装膜之后的成组的包装套筒从处理工位提供到包装套筒料轨中。At least one embodiment of the present disclosure provides an automatic feeding method for packaging sleeves, which is used to provide packaging sleeves in groups to the packaging sleeve material rail, and the packaging sleeve material rail extends in the feeding direction, forming a group The packaging sleeve includes a plurality of packaging sleeves stacked together, and the grouped packaging sleeves are 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 method includes: using a manipulator to take groups of packaging sleeves from a feed station to a processing station, the feed station is used to stack a plurality of groups of packaging sleeves stacked together, each group of packaging sleeves The tube is wrapped with an outer packaging film, and 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 Cartridges are provided from a processing station into a packaging sleeve track.
例如,在一些实施例中,该自动上料方法还包括:响应于指示补料的用户命令,使进料工位的防护挡板移动到关闭位置,在防护挡板处于关闭位置时,利用机械手从用于堆放被外包装膜包裹的成组的包装套筒的缓存工位拿取成组的包装套筒到处理工位;以及响应于指示完成补料的用户命令,使进料工位的防护挡板移动到打开位置,在防护挡板处于打开位置时,利用机械手从进料工位拿取成组的包装套筒到处理工位。For example, in some embodiments, the automatic feeding method further includes: in response to a user command indicating feeding, moving the protective baffle of the feeding station to the closed position, and when the protective baffle is in the closed position, using the manipulator Retrieving groups of packaging sleeves from a buffer station for stacking groups of packaging sleeves wrapped in 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.
例如,在一些实施例中,该自动上料方法还包括:利用进料进度传感器感测包装套筒料轨中的包装套筒的数量;利用缓存数量传感器感测缓存工位中的被外包装膜包裹的成组的包装套筒的数量;以及当包装套筒料轨中的包装套筒的数量满足第一预定条件并且缓存工位中的被外包装膜包裹的成组的 包装套筒的数量满足第二预定条件时,利用机械手从进料工位拿取成组的包装套筒到缓存工位。For example, in some embodiments, the automatic feeding method further includes: using a feed progress sensor to sense the number of packaging sleeves in the packaging sleeve rail; The quantity of the grouped packaging sleeve wrapped by film; When the quantity satisfies the second predetermined condition, a manipulator is used to take groups of packaging sleeves from the feeding station to the buffering station.
例如,在一些实施例中,机械手包括第一末端执行器和第二末端执行器,利用第一末端执行器将移除了外包装膜后的成组的包装套筒从处理工位提供到包装套筒料轨,利用第二末端执行器从进料工位拿取成组的包装套筒到处理工位。该方法还包括:在第一末端执行器和第二末端执行器之间进行切换。For example, in some embodiments, the manipulator includes a first end effector and a second end effector, and the group 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 feed rail, 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.
例如,在一些实施例中,处理工位还包括定位装置和翻转装置。该方法还包括:利用定位装置感测成组的包装套筒的取向,并且当感测到成组的包装套筒的取向不正确时,利用翻转装置使成组的包装套筒翻转以正确定位,当成组的包装套筒正确定位后,利用拆膜装置将外包装膜从成组的包装套筒移除。For example, in some embodiments, the processing station also includes positioning means and turning means. The method also includes: using the positioning device to sense the orientation of the group of packaging sleeves, and when the orientation of the group of packaging sleeves is sensed to be incorrect, using the turning device to turn the group of 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.
例如,在一些实施例中,该自动上料方法还包括:利用机械手将在处理工位处无法正确定位的包装套筒装置移动到不良品回收工位;利用机械手将移除的外包装膜移动到膜收集工位;以及利用机械手将隔纸移动到隔纸回收工位。成组的包装套筒在进料工位处堆叠成多个层,每个层包括阵列布置的多个成组的包装套筒,并且每个层由隔纸隔开。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 recovery station; using a manipulator to move the removed outer packaging film to the film collection station; and use the manipulator to move the separator to the separator recycling station. The groups of packaging sleeves are stacked at the feeding station into a plurality of layers, each layer comprising a plurality of groups of packaging sleeves arranged in an array, and each layer is separated by a spacer.
附图说明Description of drawings
为了更清楚地说明本公开实施例的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,应当理解,以下附图仅示出了本公开的某些实施例,因此不应被看作是对范围的限定,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他相关的附图。In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following will briefly introduce the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present disclosure, and therefore are not It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.
图1示出了根据本公开的一实施例的包装套筒自动上料系统的俯视示意图;Fig. 1 shows a schematic top view of an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure;
图2示出了根据本公开的一实施例的包装套筒自动上料系统的示意性框图;Fig. 2 shows a schematic block diagram of an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure;
图3示出了根据本公开的一实施例的包装套筒自动上料系统的机械手的末端执行部分的示意图;Fig. 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;
图4示出了根据本公开的一实施例的包装套筒自动上料系统的机械手的第一末端执行器的示意图;Fig. 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;
图5A-图5C示出了根据本公开的一实施例的包装套筒自动上料系统的机械手的第一末端执行器的操作示意图;并且5A-5C show a schematic diagram 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
图6示出了根据本公开的一实施例的供包装套筒的自动上料方法;Fig. 6 shows an automatic feeding method for packaging sleeves according to an embodiment of the present disclosure;
图7为根据本公开一实施例的包装套筒自动上料系统中拆膜装置的示例1的结构示意图;Fig. 7 is a schematic structural view of Example 1 of a film removal device in an automatic feeding system for packaging sleeves according to an embodiment of the present disclosure;
图8为图7所示的拆膜装置的侧视结构示意图;Fig. 8 is a side view structural schematic diagram of the film removal device shown in Fig. 7;
图9为图7所示的拆膜装置的俯视结构示意图;Fig. 9 is a top view structural schematic diagram of the film removal device shown in Fig. 7;
图10为图7所示的拆膜装置的割刀组件的结构示意图;Fig. 10 is a schematic structural view of the cutter assembly of the film removal device shown in Fig. 7;
图11为根据本公开一实施例的包装套筒自动上料系统中拆膜装置的示例2中通道的位置关系示意图;11 is a schematic diagram of the positional relationship of the channels in Example 2 of the film removal device in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure;
图12为根据本公开一实施例的包装套筒自动上料系统中拆膜装置的示例2的立体结构示意图;Fig. 12 is a perspective structural diagram of Example 2 of the film removal device in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure;
图13为图12所示的拆膜装置的侧视图;Fig. 13 is a side view of the film removal device shown in Fig. 12;
图14为图12所示的拆膜装置的第一切割组件在物料上的运动路径示意图;Fig. 14 is a schematic diagram of the movement path of the first cutting component of the film removal device shown in Fig. 12 on the material;
图15为图12所示的拆膜装置的位于进料通道的结构的示意图;Figure 15 is a schematic diagram of the structure of the film removal device shown in Figure 12 located in the feed channel;
图16为图12所示的拆膜装置中的第一切割组件和第一驱动组件的结构示意图;Fig. 16 is a schematic structural view of the first cutting assembly and the first driving assembly in the film removal device shown in Fig. 12;
图17为图12所示的拆膜装置中的第二切割组件和第二驱动组件的结构示意图;Fig. 17 is a schematic structural view of a second cutting assembly and a second driving assembly in the film removal device shown in Fig. 12;
图18为图12所示的拆膜装置的第一切割组件和第二切割组件在物料上的运动路径示意图;Fig. 18 is a schematic diagram of the movement path of the first cutting assembly and the second cutting assembly on the material of the film removal device shown in Fig. 12;
图19为图12所示的拆膜装置的位于出料通道的结构的示意图;Fig. 19 is a schematic diagram of the structure of the film removal device shown in Fig. 12 located in the discharge channel;
图20为图12所示的拆膜装置的推送机构的结构示意图;Fig. 20 is a schematic structural view of the pushing mechanism of the film removal device shown in Fig. 12;
图21为图12所示的拆膜装置的第六驱动组件和出料机构的结构示意图;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;
图22为图12所示的拆膜装置的除尘机构的底部除尘结构示意图;Fig. 22 is a schematic diagram of the bottom dust removal structure of the dust removal mechanism of the film removal device shown in Fig. 12;
图23为图12所示的拆膜装置的除尘机构的顶部除尘结构示意图;Fig. 23 is a schematic diagram of the top dust removal structure of the dust removal mechanism of the film removal device shown in Fig. 12;
图24为根据本公开一实施例的包装套筒自动上料系统中膜包收集装置的结构示意图;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;
图25为根据本公开一实施例的包装套筒自动上料系统中膜包收集装置的结构示意图;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;
图26为根据本公开一实施例的包装套筒自动上料系统中另一种膜包回收装置的结构示意图;Fig. 26 is a schematic structural view of another film bag recovery device in the automatic feeding system for packaging sleeves according to an embodiment of the present disclosure;
图27为根据本公开一实施例的包装套筒自动上料系统中一种隔纸回收装置的结构示意图;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;
图28为根据本公开一实施例的包装套筒自动上料系统中另一种隔纸回收装置的关闭状态示意图;Fig. 28 is a schematic diagram of another paper separator recovery device in the closed state of the packaging sleeve automatic feeding system according to an embodiment of the present disclosure;
图29为根据本公开一实施例的包装套筒自动上料系统中另一种隔纸回收装置的打开状态示意图;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;
图30为根据本公开一实施例的包装套筒自动上料系统中另一种隔纸回收装置的结构示意图。Fig. 30 is a schematic structural view of another separation paper recovery device in the automatic feeding system for packaging sleeves according to an embodiment of the present disclosure.
具体实施方式Detailed ways
下面,参照附图详细描述根据本公开的实施例的包装套筒自动上料系统和包装套筒的自动上料方法。为使本实用公开的目的、技术方案和优点更加清楚,下面将结合本公开实施例中的附图,对本公开实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本公开一部分实施例,而不是全部的实施例。Hereinafter, an automatic feeding system for a packaging sleeve and an automatic feeding method for a packaging sleeve 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 present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are The present disclosure discloses some embodiments, but not all embodiments.
以下对结合附图提供的本公开的实施例的详细描述并非旨在限制要求保护的本公开的范围,而是仅仅表示本公开的选定实施例。基于本公开中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本公开保护的范围。The following detailed description of the embodiments of the present 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 present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present disclosure.
除非上下文另有定义,否则单数形式包括复数形式。在整个说明书中,术语“包括”、“具有”、等在本文中用于指定所述特征、数字、步骤、操作、元件、部件或其组合的存在,但不排除存在或添加一个或多个其他特征、数 字、步骤、操作、元件、部件或其组合。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, numbers, steps, operations, elements, components or combinations thereof, but do not exclude the presence or addition of one or more Other features, numbers, steps, operations, elements, parts or combinations thereof.
另外,即使使用诸如“第一”、“第二”等序数的术语用于描述各种部件,但这些部件并不受这些术语的限制,并且这些术语仅用于区分一个元件与其他元件。In addition, even though terms of ordinal numbers such as 'first', 'second', etc. 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.
目前,需要人工将成组的包装套筒提供到包装套筒成型装置的包装套筒料轨,以供包装盒成型装置使用。该成组的包装套筒包括堆叠在一起的多个包装套筒,成组的包装套筒以包装套筒的堆叠方向与进给方向平行的状态被提供到包装套筒料轨中。例如,成组的包装套筒被外包装膜包覆以防止在运输过程中的污染。因此,在提供其之前,需要人工将包覆成组的包装套筒的外包装膜移除,然后以正确的取向提供到包装套筒料轨。虽然存在一些装置,用于拆除包覆成组的包装套筒的外包装膜,将成组的包装套筒翻转到正确的取向,或者对拆除了外包装膜的成组的包装套筒进行除尘。但是,仍然缺乏自动化系统,在不需要人工干预的情况下,自动化地执行包装套筒的上料。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 a state in which 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. Therefore, it is necessary to manually remove the outer wrapping film covering the grouped packaging sleeves before providing them and then supplying them in the correct orientation to the packaging sleeve infeed. Although some means exist for removing the outer wrapping film covering the set of packaging sleeves, for inverting the set of packaging 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.
本公开的至少一实施例提供一种包装套筒自动上料系统,其用于向包装套筒料轨提供成组的包装套筒,该包装套筒料轨在进给方向上延伸,该成组的包装套筒包括堆叠在一起的多个包装套筒,且该成组的包装套筒以多个包装套筒的堆叠方向与进给方向平行的状态被提供到包装套筒料轨中。该系统包括:进料工位,用于堆放堆叠在一起的多个该成组的包装套筒,每个所述成组的包装套筒被外包装膜包裹;处理工位,包括拆膜装置,其将所述外包装膜从成组的包装套筒移除;机械手;以及控制器,其配置为控制机械手从进料工位拿取成组的包装套筒到处理工位,并且控制机械手将移除了所述外包装膜之后的成组的包装套筒从处理工位提供到包装套筒料轨中。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 a packaging sleeve material rail, the packaging sleeve material rail extends in the feeding direction, and the packaging sleeve material rail extends in the feeding direction. A group of packaging sleeves includes a plurality of packaging sleeves stacked together, and the group of packaging sleeves is provided into the packaging sleeve rail in a state where 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 the grouped packaging sleeves stacked together, each said grouped packaging sleeve being wrapped by an outer packaging film; a processing station including a defilming device , which removes the outer packaging film from the group of packaging sleeves; the manipulator; and the controller, which is configured to control the manipulator to take the group of packaging sleeves from the feeding station to the processing station, and 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 rail.
该包装套筒自动上料系统,通过处理工位对成组的包装套筒进行自动化的处理,通过控制器控制机械手自动化地将成组的包装套筒在进料工位、处理工位和包装套筒料轨之间转移。因此,允许在不需要人工干预的情况下自动化地执行包装套筒的上料。The packaging sleeve automatic feeding system automatically processes the group of packaging sleeves through the processing station, and automatically transfers the group of packaging sleeves at the feeding station, processing station and packaging sleeve through the controller to control the manipulator. Transfer between barrel rails. Thus, it is allowed to carry out the feeding of the packaging sleeves automatically without human intervention.
此外,该系统还包括缓存工位,其用于堆放被外包装膜包裹的成组的包装套筒。In addition, the system includes a buffer station for stacking groups of packaging sleeves wrapped in an outer packaging film.
进料工位包括能够在关闭位置和打开位置移动的防护挡板,在关闭位置时,防护挡板阻止机械手进入进料工位;在打开位置时,防护挡板允许机械 手进入进料工位。控制器配置为:当接收到指示补料的用户命令时,控制进料工位的防护挡板移动到关闭位置,并且然后控制机械手从缓存工位拿取成组的包装套筒;当接收到指示完成补料的用户命令时,控制进料工位的防护挡板移动到打开位置,并且然后控制机械手从进料工位拿取成组的包装套筒。The infeed station includes a guard that is movable between a closed position that prevents the manipulator from entering the infeed station and an open position that allows the manipulator to enter the infeed station. The controller is configured to: when receiving a user command indicating feeding, control the protective flap of the feeding station to move to the closed position, and then control the manipulator to take the group of packaging sleeves from the buffer station; Upon user command indicating completion of refilling, 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.
通过设置缓存工位,机械手可以不间断地从缓存工位和进料工位中的一个拿取成组的包装套筒,从而保证了在操作人员补料时,也能不间断地向执行到包装套筒料轨的包装套筒的上料。在一些实施例中,缓存工位相对于进料工位只需要堆放显著地更少数量的成组的包装套筒,其占地面积小于进料工位,因此,节约了自动上料系统的占地面积,降低了生产成本。By setting the buffer station, the manipulator can uninterruptedly take a group of packaging sleeves from one of the buffer station and the feeding station, thus ensuring that when the operator replenishes the material, it can also be carried out uninterruptedly. Loading of packaging sleeves from the packaging sleeve rail. In some embodiments, the buffering station only needs to stack a significantly smaller number of groups of packaging sleeves than the feeding station, and its footprint is smaller than that of the feeding station, thus saving the footprint of the automatic feeding system. The land area reduces the production cost.
此外,由于进料工位设置有防护挡板,其使进行补料的操作人员与系统的其他部分隔离,从而保证了操作人员的安全,提高了系统的安全性。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.
另外,该系统的机械手包括第一末端执行器,该机械手配置为利用第一末端执行器将移除了外包装膜后的成组的包装套筒从处理工位提供到包装套筒料轨。该第一末端执行器包括:第一基部、一对夹爪、推动件和拉动件,该一对夹爪相对于第一基部在第一方向上延伸并且配置为在垂直于第一方向的第二方向上在夹取位置和释放位置之间移动。推动件具有垂直于所述第一方向的推动面。拉动件配置为在第一方向上移动。Additionally, the manipulator of the system includes a first end effector configured to provide the set of packaging sleeves with the overwrap film removed from the processing station to the packaging sleeve rail using the first end effector. 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 relative 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.
因此,包装套筒料轨是在进给方向延伸的轨道,堆叠在一起的包装套筒在进给方向上堆叠以被依次进给到包装盒成型装置进行成型处理。包装套筒料轨包括闸门压块,其在进给方向上按压包装套筒料轨中的包装套筒以避免其倾斜或倒塌。此外,闸门压块使放置在包装套筒料轨中的包装套筒紧挨着布置,从而保证进给的连续执行。因此,在将成组的包装套筒提供到包装套筒料轨中时,需要使闸门压块移开包装套筒料轨中已有的包装套筒,然后使成组的包装套筒抵靠已有的包装套筒后,再使闸门压块恢复成按压包装套筒料轨中的更新后的包装套筒。可以通过第一末端执行器来自动地进行这一复杂的操作。第一末端执行器保证了包装套筒自动上料系统的全自动化运行。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 pressure block allows the packaging sleeves placed in the packaging sleeve rail to be arranged next to each other, thus ensuring a continuous execution of the feeding. Therefore, when the packaging sleeves in groups are provided in the packaging sleeve material rail, it is necessary to make the gate pressing block remove the existing packaging sleeves in the packaging sleeve material rail, and then make the packaging sleeves in groups against the existing packaging sleeves. After some packaging sleeves, the gate briquetting block is recovered to press the updated packaging sleeves in the packaging sleeve material rail. This complex operation can be performed automatically by the first end effector. The first end effector ensures the fully automatic operation of the packaging sleeve automatic feeding system.
图1示出了根据本公开的一实施例的包装套筒自动上料系统的俯视示意图,图2示出了根据本公开的一实施例的包装套筒自动上料系统的示意性框图。Fig. 1 shows a schematic top view of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure, and Fig. 2 shows a schematic block diagram of a packaging sleeve automatic feeding system according to an embodiment of the present disclosure.
如图1和图2所示,包装套筒自动上料系统包括进料工位100、处理工 位200、缓存工位400、膜收集工位500、不良品回收工位600、隔纸回收工位700、机械手300和控制器800。控制器800配置为与进料工位100、处理工位200、缓存工位400、膜收集工位500、不良品回收工位600、隔纸回收工位700中的一个或多个以及机械手300通信地连接,以控制这些工位中的一些或全部的装置和机械手300。机械手300在控制器800的控制下移动以例如在这些工位之间运送成组的包装套筒920、外包装膜或者隔纸等。因此,通过这些工位的设置、机械手300以及控制机械手300的控制器800,包装套筒自动上料系统实现了对包装套筒料轨910的自动化的上料操作。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 collecting station 500, a defective product recycling station 600, and a paper recycling station. bit 700, manipulator 300 and controller 800. The controller 800 is configured to work with one or more of the feeding station 100, the processing station 200, the buffer station 400, the film collecting station 500, the defective product recycling station 600, the septum recycling station 700, and the manipulator 300 Devices and manipulators 300 communicatively linked to 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 spacers, 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 .
控制器800例如包括微处理器、数字信号处理器(“DSP”)、专用集成电路(“ASIC”)、现场可编程门阵列(“FPGA”)等。控制器800可以包括多个分立的子控制器。控制器800例如还可以与远程服务器连接以远程地监控和控制系统的运行。控制器800可以将系统的运行参数存储到本地的存储介质或者上传到远程服务器。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 multiple discrete sub-controllers. The controller 800 can also be connected with a remote server to remotely monitor and control the operation of the system, for example. The controller 800 can store the operating parameters of the system in a local storage medium or upload them to a remote server.
进料工位100用于堆放堆叠在一起的多个成组的包装套筒920。堆叠在进料工位100的每个成组的包装套筒920被外包装膜包裹。成组的包装套筒920可以在进料工位100处堆叠成多个层,每个层包括阵列布置的多个成组的包装套筒920,并且多个层由隔纸隔开。在一些情况下,最上层的成组的包装套筒920可能没有以阵列布置,而是以任意取向布置。进料工位100可以包括视觉检测装置,用于检测成组的包装套筒920的取向,以帮助对成组的包装套筒920的定位以及机械手300对其的抓取。The infeed 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 feeding station 100 is wrapped with an outer packaging film. The groups of packaging sleeves 920 may be stacked at the feeding station 100 into multiple layers, each layer comprising a plurality of groups of packaging sleeves 920 arranged in an array, and the layers are separated by spacers. In some cases, the uppermost set of packaging sleeves 920 may not be arranged in an array, but rather in random orientations. The feeding station 100 may include a visual detection device for detecting the orientation of the group of packaging sleeves 920 to facilitate the positioning of the group of packaging sleeves 920 and the grasping thereof by the manipulator 300 .
此外,进料工位100可以包括防护挡板110以及进料安全门120。防护挡板110将进料工位100与系统中的其他部分隔离开,并且能够在关闭位置和打开位置移动。在关闭位置时,防护挡板110阻止机械手300进入进料工位100,在打开位置时,防护挡板110允许机械手300进入进料工位100。由于在操作人员补料时处于关闭位置的防护挡板110将操作人员与系统的其他部分隔开,因此保证了操作人员的安全,提高了系统的安全性。进料安全门120设置在系统的外周(即,将系统与外部隔离的外壁),操作人员通过其从系统的外部进行补料。例如,控制器800可以配置为控制该进料安全门120,仅当进料工位100的防护挡板110移动到关闭位置才允许进料安全门120打开。因此,通过进料安全门120和防护挡板110的动作的配置,进一步保证 了操作人员的安全。In addition, the feeding station 100 may include a protective baffle 110 and a feeding safety door 120 . A protective barrier 110 isolates the feed 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 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 moves to the closed position. Therefore, through the configuration of the action of the feed safety door 120 and the protective baffle 110, the safety of the operator is further guaranteed.
处理工位200用于对成组的包装套筒920进行处理,其可以包括感测成组的包装套筒920的取向的定位装置220、用于使成组的包装套筒920翻转以使其正确定位的翻转装置230、将外包装膜从成组的包装套筒920移除的拆膜装置210、以及对移除了外包装膜后的成组的包装套筒920进行除尘的除尘装置(未示出)。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 so that they Correctly positioned overturning device 230, the film tearing device 210 that removes the outer packaging film from the grouped packaging sleeve 920, and the dust removal device that removes dust from the grouped packaging sleeve 920 after the outer packaging film is removed ( not shown).
控制器800配置为控制机械手300从进料工位100拿取成组的包装套筒920到处理工位200,并且控制机械手300将移除了外包装膜之后的成组的包装套筒920从处理工位200提供到包装套筒料轨910中。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 processing station 920 after the outer packaging film is removed. Station 200 is provided into packaging sleeve rail 910 .
缓存工位400也用于堆放被外包装膜包裹的成组的包装套筒920,用于在操作人员在进料工位100处执行补料操作时替代进料工位100。The buffer station 400 is also used for stacking groups of packaging sleeves 920 wrapped by outer packaging film, and is used to replace the feed station 100 when the operator performs a refill operation at the feed station 100 .
控制器800进一步配置为当接收到指示补料的用户命令时,控制进料工位100的防护挡板110移动到关闭位置,并且在防护挡板110处于关闭位置时,控制机械手300从缓存工位400拿取成组的包装套筒920;以及当接收到指示完成补料的用户命令时,控制进料工位100的防护挡板110移动到打开位置,并且在防护挡板110处于打开位置时,控制机械手300从进料工位100拿取成组的包装套筒920。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 storage station to the closed position. Position 400 picks up the group of packaging sleeves 920; and when receiving a user command indicating completion of replenishment, controls the guard flap 110 of the feeding station 100 to move to the open position, and when the guard guard 110 is in the open position , the control manipulator 300 takes the packaging sleeve 920 in groups from the feeding station 100.
因此,通过设置缓存工位400,机械手300可以不间断地从缓存工位400和进料工位100中的一个拿取成组的包装套筒920,从而保证了在操作人员补料时,也能不间断地向执行到包装套筒料轨910的上料。控制器800可以配置为只有防护挡板110移动到关闭位置时,才从缓存工位400拿取成组的包装套筒920,而不需要从缓存工位400拿取成组的包装套筒920直到缓存工位400的成组的包装套筒920的数量少于预定余量,例如1组。缓冲工位存放的成组的包装套筒920的数量远小于进料工位100存放的成组的包装套筒920的数量。并且,缓存工位400处不需要设置防护挡板110。因此,缓存工位400的占地面积远小于进料工位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 the packaging sleeve feed rail 910 can be performed without interruption. The controller 800 can be configured to take the group of packaging sleeves 920 from the buffer station 400 only when the protective flap 110 is moved to the closed position, without taking the group of packaging sleeves 920 from the buffer station 400 The number of groups of packaging sleeves 920 up to buffer station 400 is less than a predetermined margin, for example 1 group. The number of groups of packaging sleeves 920 stored in the buffer station is much smaller than the number of groups of packaging sleeves 920 stored in the feeding station 100 . Moreover, the protective baffle 110 does not need to be arranged at the cache station 400 . Therefore, the footprint of the buffering station 400 is much smaller than that of the feeding station 100 .
定位装置220(图1中未示出)设置在翻转装置230的附近,配置为感测成组的包装套筒920的取向,其例如包括图像传感器、用于识别设置在成组的包装套筒920上的诸如二维码或条形码的标识的扫码枪等。翻转装置230将成组的包装套筒920翻转以使其正确定位。例如,翻转装置230包括导向 机构使得成组的包装套筒920只能以两种取向定位于其中。定位装置220可以感测放置在翻转装置230中的成组的包装套筒920的取向,当其感测信号表示成组的包装套筒920被正确定位时,则机械手300可以将其运送到拆膜装置210;当其感测信号表示成组的包装套筒920没有被正确地定位时,则翻转装置230使该成组的包装套筒920以180°翻转;当其感测信号表示已经被翻转的成组的包装套筒920仍然没有正确地定位时,则判断该成组的包装套筒920无法正确定位。定位装置220和翻转装置230的该操作可以由控制器800控制以执行。The positioning device 220 (not shown in FIG. 1 ) is disposed near the turning device 230 and is configured to sense the orientation of the grouped packaging sleeve 920, which includes, for example, an image sensor for identifying the grouped packaging sleeve 920, such as a QR code or a barcode scanner, 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 overturning device 230, and when its sensing signal indicates that the grouped packaging sleeves 920 are correctly positioned, then the manipulator 300 can transport it to the unloading station. Film device 210; when its sensing signal represents that the packaging sleeve 920 in groups is not correctly positioned, then the overturning device 230 makes the packaging sleeve 920 in groups turn over with 180°; when its sensing signal represents that it has been positioned When the grouped packaging sleeves 920 turned over are still not positioned correctly, it is judged that the grouped 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.
拆膜装置210用于将外包装膜从成组的包装套筒920移除。例如,拆膜装置210可以包括将外包装膜划破的切刀部件以及将被切开的外包装膜从成组的包装套筒920移除的吸取部件。可以先利用切刀部件将外包装膜切开成左右两个部分或者上下两个部分,然后利用吸取部件将外包装膜的各个部分移除。关于拆膜装置210的具体示例,将在下文详细描述。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.
除尘装置用于对移除了外包装膜后的成组的包装套筒920进行除尘,其例如包括用于移动以擦除灰尘的擦除部分和用于吸取灰尘的吸尘部分。除尘装置可以设置在拆膜装置210附近或者与拆膜装置210设置成一体,以在移除了成组的包装套筒920的外包装膜之后紧接着对其进行除尘处理。关于除尘装置的具体示例,也将在下文描述。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.
膜收集工位500用于收集从成组的包装套筒920移除的外包装膜,不良品回收工位600用于收集在翻转装置230处无法正确定位的成组的包装套筒920,隔纸回收工位700用于收集在进料工位100处设置在成组的包装套筒920的层之间的隔纸。例如,膜收集工位500、不良品回收工位600和隔纸回收工位700可以分别设置有使所收集外包装膜、不良品和隔纸整齐地放置或堆叠的装置。另外,例如,膜收集工位500、不良品回收工位600和隔纸回收工位700可以分别设置在系统的外周处,并且设置有能够允许操作人员从系统的外部进行收集操作的开口,例如可以设置有抽屉式的或者以枢转的门封闭的开口。操作人员可以从系统的外部拉开抽屉或者打开门,以经由开口拿取膜收集工位500处收集的外包装膜、或者不良品回收工位600处回收的不良品、或者隔纸回收工位700处回收的隔纸。The film collection station 500 is used to collect the outer packaging film removed from the grouped packaging sleeves 920, and the defective product recovery station 600 is used to collect the grouped packaging sleeves 920 that cannot be correctly positioned at the turning device 230. The paper recovery station 700 is used to collect separator paper disposed between layers of pack sleeves 920 in groups at the infeed station 100 . For example, the film collecting station 500, defective product recycling station 600 and spacer recycling station 700 can be respectively provided with devices for neatly placing or stacking collected outer packaging films, defective products and spacers. In addition, for example, the film collection station 500, the defective product recovery station 600, and the spacer paper recovery 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, such as Openings can be provided in the form of 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 recycling station through the opening 700 recycled separators.
控制器800配置为:控制机械手300从进料工位100拿取隔纸到隔纸回 收工位700;控制机械手300从进料工位100拿取成组的包装套筒920到处理工位200处的翻转装置230;控制机械手300从翻转装置230处拿取无法正确定位的成组的包装套筒920到不良品回收工位600;控制机械手300从拆膜装置210处拿取被移除的外包装膜到膜收集工位500;控制机械手300将在拆膜装置210处移除了外包装膜后的成组的包装套筒920提供到包装套筒料轨910中。The controller 800 is configured to: control the manipulator 300 to take the separator paper from the feeding station 100 to the separator recycling station 700; control the manipulator 300 to take the grouped packaging sleeves 920 from the feeding station 100 to the processing station 200 The overturning device 230; the control manipulator 300 takes the grouped packaging sleeves 920 that cannot be correctly positioned from the overturning device 230 to the defective product recovery station 600; the control manipulator 300 takes the removed outer shell 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 .
在本实施例中,处理工位200还包括转移装置,其将翻转装置230处的成组的包装套筒920转移到拆膜装置210。通过设置转移装置,有助于减轻机械手300的操作负担。然而,本公开不限于此,在其他实施例中,控制器800可以控制机械手300执行将成组的包装套筒920从翻转装置230运送到拆膜装置210。在其他实施例中,机械手300的其它运送操作也可以由另外的转移装置替代地执行。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 . The provision of the transfer device contributes to reducing the operational load on 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.
系统中的各个装置的操作,诸如翻转装置230的翻转操作和拆膜装置210的拆外包装膜操作可以同步地进行。通过合理地配置机械手300对成组的包装套筒920的运送操作,系统利用机械手300进行上料的速度可以大于包装盒成型装置消耗包装套筒料轨910中的包装套筒的速度。因此,除了在进行成组的包装套筒920的运送操作以外,机械手300还可以从进料工位100向缓存工位400补充成组的包装套筒920以供对进料工位100进行补料时使用。例如,系统还可以包括配置为感测包装套筒料轨910中的包装套筒的数量的进料进度传感器(未示出)和配置为感测缓存工位400中的被外包装膜包裹的成组的包装套筒920的数量缓存数量传感器(未示出)。控制器800配置为:当包装套筒料轨910中的包装套筒的数量满足第一预定条件并且缓存工位400中的被外包装膜包裹的成组的包装套筒920的数量满足第二预定条件时,控制机械手300从进料工位100拿取被外包装膜包裹的成组的包装套筒920到缓存工位400。The operations of the various devices in the system, such as 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 packaging box forming device consumes 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. used when feeding. 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 wrapped in the overwrapping film in the buffer station 400. A quantity buffer quantity sensor (not shown) for the group of packaging sleeves 920 . 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 a predetermined condition is met, the control manipulator 300 takes the grouped packaging sleeves 920 wrapped by the outer packaging film from the feeding station 100 to the buffer station 400 .
在本实施例中,包装套筒料轨910为多个,该多个包装套筒料轨910在垂直于进给方向J的横向方向H上并排地布置并且并行地向包装盒成型装置供给包装套筒。第一预定条件是多个包装套筒料轨910中均包括大于第一预定数量的包装套筒,第二预定条件是缓存工位400包括少于第二预定数量的被外包装膜包裹的成组的包装套筒920。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 the plurality of packaging sleeve rails 910 all include more than the first predetermined number of packaging sleeves, and the second predetermined condition is that the buffer station 400 includes less than the second predetermined number of packaging sleeves wrapped by the outer packaging film. Set of packing sleeves 920 .
如图1所示,缓存工位400和进料工位100在垂直于进给方向J的横向方向H上并排设置,并在与进给方向J平行的方向上与包装套筒料轨910相对设置。处理工位200和机械手300的基座在垂直于进给方向J的横向方向H上并排设置,并在与进给方向J平行的方向上设置在包装套筒料轨910与缓存工位400和进料工位100之间。在垂直于进给方向J的横向方向H上,机械手300的基座和所述进料工位100分别与处理工位200和缓存工位400相对设置。也就是说,从图1的上部到图1的下部,依次布置包装套筒料轨910、处理工位200和机械手300的基座二者、以及缓存工位400和进料工位100二者,其中处理工位200和缓存工位400在图1的左侧,机械手300的基座和进料工位100在图1的右侧。机械手300可旋转地安装到基座,其围绕垂直于进给方向J和横向方向H的轴线旋转。从机械手300的运动轨迹的角度看,进料工位100、缓存工位400、处理工位200以及包装套筒料轨910围绕基座在机械手300的运动轨迹上依次设置。具有这样布置的系统,优化了机械手300的运动路径,从而使机械手300运动负荷降低,提高了系统的运行效率。此外,由于缓存工位400在机械手300的运动轨迹上更靠近处理工位200,避免了在补料时机械手300从缓存工位400拿取成组的包装套筒920时,机械手300与防护挡板110的干涉。As shown in Figure 1, the buffering 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 opposite to the packaging sleeve rail 910 in a direction parallel to the feeding direction J set up. The bases of the processing station 200 and the manipulator 300 are arranged side by side in the transverse direction H perpendicular to the feed direction J, and are arranged between the packaging sleeve material rail 910 and the buffer station 400 and in the direction parallel to the feed direction J. Between 100 feeding stations. In a transverse direction H perpendicular to the feed direction J, the base of the manipulator 300 and the 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 buffering station 400 and the feeding station 100 are arranged in sequence. , wherein the processing station 200 and the buffer station 400 are on the left side of FIG. 1 , and the base of the manipulator 300 and the feeding station 100 are on the right side of FIG. 1 . 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 trajectory of the manipulator 300 , the feeding station 100 , the buffering station 400 , the processing station 200 and the packaging sleeve material rail 910 are sequentially arranged around the base on the movement trajectory 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 movement track 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 contact between the manipulator 300 and the protective barrier is avoided. plate 110 interference.
另外,如图1所示,膜收集工位500在横向方向H上设置在处理工位200的远离机械手300的基座的一侧,隔纸回收工位700在横向方向H上设置在缓存工位400的远离进料工位100的一侧,膜收集工位500、不良品回收工位600和隔纸回收工位700在与进给方向J平行的方向上靠近系统的外周依次设置。也就是说,从图1的上部到图1的下部,在系统的左侧的外周处,依次布置膜收集工位500、不良品回收工位600和隔纸回收工位700。由于膜收集工位500、不良品回收工位600靠近处理工位200布置,隔纸回收工位700靠近缓存工位400和进料工位100布置,因此,可以方便在相应的工位处对相应的物品的收集操作,提高了系统的运行效率。此外,由于膜收集工位500、不良品回收工位600和隔纸回收工位700设置在外周处,操作人员可以方便地从外部拿取在相应的工位处所收集的相应物品。In addition, as shown in FIG. 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 septum recovery station 700 is arranged on the buffer station in the horizontal direction H. On the side of the position 400 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 collecting 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 defective product recovery station 600 are arranged close to the processing station 200, and the septum recovery station 700 is arranged close to the buffer station 400 and the feeding station 100, it is convenient to carry out processing at the corresponding stations. The collection operation of the corresponding items improves the operating efficiency of the system. In addition, since the film collection station 500, the defective product recovery station 600 and the spacer paper recovery station 700 are arranged at the outer periphery, the operator can conveniently take the corresponding items collected at the corresponding stations from the outside.
图3示出了根据本公开的一实施例的包装套筒自动上料系统的机械手300的末端执行部分的示意图,图4示出了根据本公开的一实施例的包装套 筒自动上料系统的机械手300的第一末端执行器310的示意图。Fig. 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 Fig. 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.
如图3和图4所示,机械手300的末端执行部分包括第一末端执行器310和第二末端执行器320。例如,第一末端执行器310用于将移除了外包装膜后的成组的包装套筒920从处理工位200(例如,拆膜装置210或者除尘装置处)提供到包装套筒料轨910。第二末端执行器320用于执行除了将成组的包装套筒920从处理工位200提供到包装套筒料轨910的其他运送操作,例如,将成组的包装套筒920从进料工位100拿取到处理工位200等。第一末端执行器310和第二末端执行器320均安装到机械手300的机械臂的末端的基部,控制器800可以控制机械手300在第一末端执行器310和第二末端执行器320之间切换。例如,第一末端执行器310的第一基部311和第二末端执行器320的第二基部321成角度地安装到机械臂的末端的基座,通过旋转机械臂的末端的基座来在第一末端执行器310和第二末端执行器320之间切换。As shown in FIGS. 3 and 4 , the end effector part 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 material 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, feeding the group of packaging sleeves 920 from the infeed station 100 Take it to processing station 200 and so on. 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 switch between the first end effector 310 and the second end effector 320 . 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, which is rotated by rotating the base of the end of the robotic arm. Switch between one end effector 310 and a second end effector 320 .
第二末端执行器320包括吸盘322,其可以吸附到成组的包装套筒920上以运送成组的包装套筒920。在拆膜装置210处,还可以利用第二末端执行器320的吸盘322将切开的外包装膜转移到膜收集工位500处。第二末端执行器320不限于吸盘的形式,其还可以包括夹爪等。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 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 collecting 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.
如图4所示,第一末端执行器310包括第一基部311、一对夹爪312、推动件313和拉动件314。该对夹爪312、推动件313和拉动件314安装到第一基部311。该对夹爪312相对于第一基部311在第一方向Y上延伸并且配置为在垂直于第一方向Y的第二方向X上在夹取位置和释放位置之间移动以夹取成组的包装套筒920从而使其移动。由于该对夹爪312在第一方向Y上延伸,并且在第二方向X上施加夹取力,因此,该对夹爪312能够避免已经移除了外包装膜的成组的包装套筒920散开,从而可靠地夹取成组的包装套筒920。推动件313具有垂直于第一方向Y的推动面,拉动件314配置为在第一方向Y上移动。可以通过推动件313和拉动件314而将所提供的成组的包装套筒920在进给方向J上压靠到包装套筒料轨910中已有的包装套筒,并且使得闸门压块911压靠到远离包装盒成型装置的最末端的包装套筒上。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 clamping position and a release position in a second direction X perpendicular to the first direction Y to clamp 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 avoid 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 pressure block 911 Press against the extreme packaging sleeve away from the box former.
图5A-图5C示出了根据本公开的一实施例的包装套筒自动上料系统的机械手300的第一末端执行器310的操作示意图。机械手300及其第一末端 执行器310可以执行如下的步骤以将成组的包装套筒920从处理工位200提供到包装套筒料轨910中:步骤S11,机械手300移动第一基部311使得第一方向Y与成组的包装套筒920中的多个包装套筒的堆叠方向对齐;步骤S12,一对夹爪312夹取成组的包装套筒920并且将成组的包装套筒920放置到包装套筒料轨910使得成组的包装套筒920中的多个包装套筒的堆叠方向与包装套筒料轨910的进给方向J对齐;步骤S13,当成组的包装套筒920被放置到包装套筒料轨910后,推动件313在堆叠方向上推动成组的包装套筒920;以及步骤S14,在推动件313推动成组的包装套筒920的同时,拉动件314拉动包装套筒料轨910的闸门压块911在堆叠方向(在这种情况下,与进给方向J和第一方向Y对齐)上移动直到推动件313的推动面附近并且然后释放闸门压块911。在本实施例中,拉动件314是能够与闸门压块911接合的一对钩状元件,其分别固定到一对夹爪312。该对夹爪312通过连接件315连接到诸如驱动电机的316驱动源,该驱动源通过连接件315驱动一对夹爪312在第一方向Y上移动,进而驱动拉动件314在第一方向Y上移动。拉动件314则进而带动闸门压块911在第一方向Y上朝向推动件313移动直到推动件313附近。如图3、图4、图5A和图5B所示,在步骤S13和步骤S14中,推动件313利用其推动面在堆叠方向上推动成组的包装套筒920使得其抵靠包装套筒料轨910上原有的包装套筒,同时,拉动件314将闸门压块911在第一方向Y上朝向最末端的包装套筒拉动。闸门压块911可枢转地安装到包装套筒料轨910,并且配置为在被拉动件314拉动时,能够围绕垂直于进给方向J的竖直方向Z枢转到停止按压包装套筒的位置。如图5C所示,在步骤S14中,拉动件314最终将闸门压块911拉动到推动件313的推动面附近,然后释放闸门压块911。闸门压块911被释放后将例如由于诸如扭簧的弹性构件的回复力而重新按压到更新的最末端的包装套筒上。控制器800可以配置为控制第一末端执行器310的第一基部311、一对夹爪312、推动件313和拉动件314以执行上述操作。5A-5C are schematic diagrams illustrating the operation of the first end effector 310 of the manipulator 300 of the packaging sleeve automatic loading 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 so that the second A direction Y is aligned with the stacking direction of a plurality of packaging sleeves in the group of packaging sleeves 920; Step S12, a pair of gripper jaws 312 grips the group of packaging sleeves 920 and places the group of packaging sleeves 920 on The packaging sleeve material rail 910 makes the stacking direction of a plurality of packaging sleeves in the grouped packaging sleeve 920 aligned with the feeding direction J of the packaging sleeve material rail 910; step S13, when the grouped packaging sleeve 920 is placed After reaching the packaging sleeve material rail 910, the pusher 313 pushes the grouped packaging sleeves 920 in the stacking direction; and step S14, when the pusher 313 pushes the grouped packaging sleeves 920, the pulling member 314 pulls the packaging sleeve The gate block 911 of the cartridge rail 910 is moved 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 the gate block 911 is released. 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, and 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 to move in the first direction Y. move up. 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 packaging sleeve material At the same time, the pulling member 314 pulls the gate pressing block 911 in the first direction Y toward the endmost packaging sleeve. The gate pressing block 911 is pivotally mounted to the packaging sleeve rail 910 and is configured to pivot to stop pressing the packaging sleeve around a vertical direction Z perpendicular to the feed direction J when pulled by the pulling member 314. Location. 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 . Released, 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 torsion 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.
此外,第一末端执行器310还可以设置有各种传感器,诸如用于感测第一末端执行器310带着成组的包装套筒920一起在包装套筒料轨910上就位的传感器、用于感测拉动件314的位置的传感器和用于感测推动件313的位置的传感器等。控制器800可以从各个传感器接收信号以控制相应的部件执 行上述操作。In addition, the first end effector 310 may also be provided with various sensors, such as a sensor for sensing that the first end effector 310 is in position on the packaging sleeve rail 910 together with a group of packaging sleeves 920 , A sensor for sensing the position of the puller 314, a sensor for sensing the position of the pusher 313, and the like. The controller 800 may receive signals from various sensors to control corresponding components to perform the above operations.
在其他实施例中,第一末端执行器310还可以具有其他配置。例如,第一末端执行器310仅具有夹爪,其通过与包装套筒料轨910的其他构件配合而将成组的包装套筒920提供到包装套筒料轨910。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 .
图6示出了根据本公开的另一实施例的包装套筒自动上料系统的俯视示意图。图6中各个部件可以参照对图1-5C所示的包装套筒自动上料系统的描述。与图1中的包装套筒自动上料系统不同的是,图6的包装套筒自动上料系统包括两个进料工位100a、100b,而不包括缓存工位。进料工位100a包括进料安全门120a,进料工位100b包括进料安全门120b。两个进料工位100a、100b均没有设置防护挡板。机械手300可以在拿取完一个进料工位100a、100b处的成组的包装套筒920之后,从另一个进料工位100a、100b处拿取成组的包装套筒。两个进料工位100a、100b可以交替地进行补料。当机械手300从特定进料工位100a、100b拿取成组的包装套筒920时,该进料工位100a、100b的进料安全门120a、120b不能打开。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 Fig. 6, reference may be made to the description of the packaging sleeve automatic feeding system shown in Figs. 1-5C. 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, but does not include a buffer station. The feed station 100a includes a feed safety door 120a and the feed station 100b includes a feed safety door 120b. The two feeding stations 100a, 100b are not provided with protective baffles. The manipulator 300 can 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 alternately be fed. 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 the feeding station 100a, 100b cannot be opened.
本公开的至少一实施例还提供包装套筒的自动上料方法,其用于向包装套筒料轨提供成组的包装套筒。该方法例如可以利用如上所述的包装套筒自动上料系统来执行。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. The method can be implemented, for example, by using the automatic feeding system for packaging sleeves as described above.
在一些实施例中,该方法包括:步骤S21,利用机械手300从进料工位100拿取成组的包装套筒920到处理工位200的翻转装置230处;步骤S22,利用定位装置220感测成组的包装套筒920的取向,并且当感测到成组的包装套筒920的取向不正确时,利用翻转装置230使成组的包装套筒920翻转以正确定位;步骤S23,利用机械手300或翻转装置230将正确定位的成组的包装套筒920运送到拆膜装置210处;步骤S24,利用拆膜装置210将外包装膜从成组的包装套筒920移除;以及步骤S25,利用机械手300将移除了所述外包装膜之后的成组的包装套筒920从处理工位200提供到包装套筒料轨910中。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 the manipulator 300 or overturning device 230 transports the grouped packaging sleeve 920 of correct positioning to the film removal device 210; step S24, utilizes 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 set of packaging sleeves 920 from the processing station 200 into the packaging sleeve material rail 910 after the outer packaging film has been removed.
此外,该方法还可以包括:利用机械手300从进料工位100拿取隔纸到隔纸回收工位700处;利用机械手300从翻转装置230处拿取无法正确定位的成组的包装套筒920到不良品回收工位600;以及利用机械手300从拆膜装置210处拿取被移除的外包装膜到膜收集工位500。In addition, the method may further include: using the manipulator 300 to take the spacer from the feeding station 100 to the spacer recovery 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;
此外,该方法还包括:响应于指示补料的用户命令,使进料工位100的防护挡板110移动到关闭位置;以及响应于指示完成补料的用户命令,使进料工位100的防护挡板110移动到打开位置。在防护挡板110处于关闭位置时,该方法利用机械手300从缓存工位400拿取成组的包装套筒920。在防护挡板110处于打开位置时,利用机械手300从进料工位100拿取成组的包装套筒920。包装套筒自动上料系统可以包括用户接口,用于与操作人员进行交互。该用户接口可以接收来自操作人员的用户命令,并且例如可以向操作人员传送操作提示。用户接口可以包括键盘、按钮、显示面板(例如,触摸屏)等。In addition, the method also includes: in response to a user command indicating replenishment, moving the protective baffle 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 retrieve groups of packaging sleeves 920 from the buffer station 400 when the protective 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 packaging sleeve automatic feeding system may include a user interface for interaction with an operator. The user interface can receive user commands from an operator and, for example, can transmit operating prompts to the operator. The user interface may include a keypad, buttons, a display panel (eg, touch screen), and the like.
此外,该方法还包括:利用进料进度传感器感测包装套筒料轨910中的包装套筒的数量;利用缓存数量传感器感测缓存工位400中的被外包装膜包裹的成组的包装套筒920的数量;以及当包装套筒料轨910中的包装套筒的数量满足第一预定条件并且缓存工位400中的被外包装膜包裹的成组的包装套筒920的数量满足第二预定条件时,利用机械手300从进料工位100拿取成组的包装套筒920到缓存工位400。In addition, the method also includes: sensing the quantity of packaging sleeves in the packaging sleeve material rail 910 by using a feed progress sensor; the quantity of sleeve 920; When the second predetermined condition is met, the manipulator 300 is used to take the grouped packaging sleeves 920 from the feeding station 100 to the buffer station 400 .
此外,在该方法中,利用第一末端执行器310将移除了外包装膜后的成组的包装套筒920从处理工位200提供到包装套筒料轨910,并且利用第二末端执行器320从进料工位100拿取成组的包装套筒920到处理工位200。该方法还包括:在第一末端执行器310和第二末端执行器320之间进行切换。上述各个步骤在不导致矛盾的情况下可以按所述的顺序、以其他顺序或者并行地执行。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 is performed using the second end effector. The feeder 320 takes groups of packaging sleeves 920 from the feed 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.
图7是根据本公开一实施例的包装套筒自动上料系统中拆膜装置的示例1的结构示意图;图8为图7所示的拆膜装置的侧视结构示意图;图9为图7所示的拆膜装置的俯视结构示意图。例如,在图7至图9中,为便于说明,第一方向与竖直方向平行,与水平方向垂直;例如,在描述图7至图9时,物料就是指如上所述的被外包装膜包覆的成组的包装套筒。图7至图9的拆膜装置是如上所述的拆膜装置210的一个示例。Fig. 7 is a schematic structural view 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 schematic side view of the film removal device shown in Fig. 7; Fig. 9 is a schematic view of Fig. 7 Schematic diagram of the top view structure of the membrane dismantling device shown. 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; Wrapped sets of packaging sleeves. The membrane tearing device of FIGS. 7 to 9 is an example of the membrane tearing device 210 described above.
参见图7至图9,该拆膜装置包括有:上料通道a1、上料组件a2、支撑组件a3和限位组件a4,上料通道a1沿第一方向延伸设置,上料通道a1内具有切割工位,例如,在竖直方向上,上料通道a1内位于偏下的一个位置设 置为切割工位;上料组件a2包括:位于上料通道a1内且沿第一方向动作的承载板a21、以及用于驱动承载板a21在第一方向上动作的第一驱动机构,承载板a21用于承载物料且支撑于物料的待切割面,承载板a21承载着物料可以在竖直方向上下移动,将物料转移到切割工位或者将物料从切割工位向上移动,便于物料从上料通道移走;其中,在切割工位处设置支撑组件a3,例如,支撑组件a3设置两个,该两个支撑组件a3分别设置在上料通道a1的相对的两侧,且沿水平方向内的第二方向排列,每个支撑组件a3包括有支撑面,两个支撑面分别位于上料通道a1相对的两侧,两个支撑面沿着第二方向间隔排列设置,承载板位于两个支撑面之间,且两个支撑面平齐,在竖直方向上高度相同,两个支撑面用于分别支撑物料的待切割面的两个相对的侧边部,当物料位于切割工位时,物料正好支撑在两个支撑面上;在上料通道的周围并且在支撑面上方设置限位组件a4,限位组件a4包括位于上料通道a1周侧的限位导向件a41,限位导向件a41位于支撑面朝向切割工位的一侧,限位导向件a41在上料通道a1的周围可以对物料上下移动起到导向作用,并且上料通道a1周侧中至少有一组相对的两侧的限位导向件a41为限位压紧件,各限位夹紧件连接有第二驱动机构a42,第二驱动机构a42用于驱动限位压紧件沿靠近或远离物料的方向动作,当物料位于切割工位时,相对设置的两个限位夹紧件可以朝向物料移动,直到将物料夹紧,固定物料,便于进行后续的切割工作;例如,切割组件a5位于支撑面下方,切割组件a5包括:位于支撑面背离切割工位的一侧的割刀组件a51、以及用于驱动割刀组件a51沿第三方向动作的第三驱动机构,第三方向与第一方向垂直,且第三方向与第二方向垂直,也就是,第三方向为水平方向内的一个与第二方向垂直的方向,割刀组件a51用于与物料的待切割面相对并切割物料的外包装膜,两个支撑面之间的间隔的延长方向与第三方向平行,割刀组件a51可以在两个支撑面之间的间隔内沿着第三方向对物料在这个间隔里裸露的部位进行精准切割,使得物料的外包装膜被割开。Referring to Figures 7 to 9, the film removal device includes: a feeding channel a1, a feeding component a2, a support component a3 and a limit component a4, the feeding channel a1 extends along the first direction, and the feeding channel a1 has The cutting station, for example, in the vertical direction, a lower position in the feeding channel a1 is set as a cutting station; the feeding assembly a2 includes: a carrying plate located in the feeding channel a1 and moving along the first direction a21, and the first driving mechanism for driving the loading plate a21 to move in the first direction. The loading plate a21 is used to carry the material and support it on the surface to be cut of the material. The loading 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 assembly a3 is set at the cutting station, for example, two support assemblies a3 are provided, and the two The two support assemblies a3 are arranged on opposite sides of the feeding passage a1 respectively, and are arranged along the second direction in the horizontal direction. Each support assembly a3 includes a supporting surface, and the two supporting surfaces are respectively located on opposite sides of the feeding passage a1. On both sides, 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 support respectively The two opposite sides of 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 limit assembly a4 is set around the feeding channel and above the support surface, limiting The position assembly a4 includes a limit guide a41 located on the side of the feeding channel a1. The limit guide a41 is located on the side of the support surface facing the cutting station. The limit guide a41 can move the material up and down around the feeding channel a1. The movement plays a guiding role, and at least one set of limit guides a41 on the opposite sides of the feeding channel a1 is a limit clamp, and each limit clamp is connected with a second drive mechanism a42, the second The driving mechanism a42 is used to drive the position-limiting clamping parts to move towards or away from the material. When the material is at the cutting station, the two position-limiting clamping parts opposite to each other can move towards the material until the material is clamped and fixed. material, to facilitate subsequent cutting work; for example, the cutting assembly a5 is positioned below the support surface, and the cutting assembly a5 includes: a cutter assembly a51 positioned on the side of the support surface away from the cutting station, and a cutter assembly a51 for driving the cutter assembly 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 component a51 is used to face 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 assembly a51 can cut the distance 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.
如上所述,对于图7至图9所示的拆膜装置,物料可以包括多个叠置的包装套筒,并且多个叠置的包装套筒被外包装膜包裹,外包装膜可以为塑料膜,例如为PE膜。例如,上述拆膜装置的工作过程进行说明如下:As mentioned above, for the detaching device shown in Figures 7 to 9, the material can include a plurality of stacked packaging sleeves, and the multiple stacked packaging sleeves are wrapped by an outer packaging film, which can be made of plastic The film is, for example, a PE film. For example, the working process of the above-mentioned film removal device is described as follows:
承载板a21在第一驱动机构的驱动下在上料通道内向上移动,并且停在 靠近上料通道a1上方的开口的位置,在上料通道a1上方的开口放入物料,物料的待切割面朝下,放置在承载板a21上,物料进入上料通道,周围有限位导向件a41对物料水平方向进行限位,并且在竖直方向起到导向作用,承载板a21载着物料向下移动,当移动到切割工位,两个支撑面之间的间隔宽度是小于物料在第二方向上的宽度的,承载板a21在两个支撑面之间的间隔继续向下移动,物料则被两个支撑面支撑在切割工位,两个支撑面分别各自支撑物料的一个侧边的边缘部,并且承载板a21向下移动一段距离,给割刀组件a51进行切割作业避让出空间,其中,至少将周围的限位导向件a41中在第二方向上的两个限位导向件a41设置为限位夹紧件,限位夹紧件在第二驱动机构a42的驱动下向物料压紧,两个相对的限位夹紧件将物料夹紧固定,此时,切割组件a5的割刀组件a51在初始位置,割刀组件位于物料在第三方向上的一侧,割刀组件a51在第三驱动机构的驱动下沿着第三方向移动,割刀组件a51在物料的下方并且在两个支撑面之间的间隔内对物料的待切割面的外包装膜进行切割,切割到物料的另一侧之后,将物料底侧的外包装膜豁开,然后在第三驱动机构的驱动下回到初始位置,物料两侧的限位夹紧件朝向远离物料的方向移动,将物料松开,然后沿着第二方向将物料外侧的外包装膜向两侧拉开,使得两侧的外包装膜远离物料本身,或者,物料两侧的限位夹紧件朝向远离物料的方向移动将物料松开后,先是承载板a21向上移动接触外包装膜底部具有豁口的物料,将物料向上微动,将物料向上稍微脱离支撑面,然后再沿着第二方向将物料外侧的外包装膜向两侧拉开,使得两侧的外包装膜远离物料本身,之后,从物料上方顶侧将外包装膜拉起并脱离物料本身,这样就可以将外包装膜拆除,再接着,承载板a21向上移动,将物料向上托起,将拆除外包装膜的物料从上料通道a1的上方开口输出,完成物料的外包装膜拆除。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, place it on the loading plate a21, the material enters the feeding channel, the surrounding limit guide a41 limits the horizontal direction of the material, and plays 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 supporting 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 supporting surfaces, and the material is then moved by the two The supporting surface is supported at 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 cutter assembly a51 to perform cutting operations, wherein at least the The two limit guides a41 in the second direction among the surrounding limit guides a41 are set as limit clamps, and the limit clamps are pressed against the material under the drive of the second drive mechanism a42. The opposite position-limiting clamp clamps and fixes the material. At this time, the cutter assembly a51 of the cutting assembly a5 is in the initial position, and the cutter assembly is located on one side of the material in the third direction, and the cutter assembly a51 is in the third driving mechanism. Driven by the drive to move along the third direction, the cutter assembly 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 , open the outer packaging film on the bottom side of the material, and then return to the initial position under the drive of the third driving mechanism, the limit clamping parts on both sides of the material move away from the material, loosen the material, and then The second direction pulls the outer packaging film on the outside of the material to both sides, so that the outer packaging film on both sides is away from the material itself, or the limit clamping parts on both sides of the material move away from the material to loosen the material, First, 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 slightly separates the material from the supporting surface, and then pulls the outer packaging film on the outer side of the material to both sides along the second direction, Keep 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 to move the material upward Hold 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.
上述拆膜装置中,通过上料组件a2在上料通道a1内输送物料,物料在切割工位由限位组件a4夹紧固定,切割组件a5在物料下方进行精准切割,将物料的外包装膜豁开,使得外包装膜可以容易的被拆除,物料的外包装膜的拆除过程简单可靠,减轻人工的工作强度,且拆膜装置机械化作业拆除外包装膜,工作效率较高,省时省力,有利于提高生产线的生产效率。In the above-mentioned film removal device, the material is conveyed in the feeding channel a1 through the feeding component a2, and the material is clamped and fixed by the limit component a4 at the cutting station, and the cutting component a5 performs precise cutting under the material, and the outer packaging film of the material is Open, 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, and the labor intensity is reduced, and the film removal device is mechanized to remove the outer packaging film, which has high work efficiency and saves time and effort. It is beneficial to improve the production efficiency of the production line.
需要说明的是,上述拆膜装置中还包括工作架,上述上料组件a2、支撑 组件a3、限位组件a4、以及切割组件a5均是安装在工作架上,工作架起到支撑和连接的作用。It should be noted that the above-mentioned film removal device also includes a work frame, and the above-mentioned feeding assembly a2, support assembly a3, limit assembly a4, and cutting assembly a5 are all installed on the work frame, and the work frame plays a role of support and connection. effect.
上述拆膜装置中,为了在切割时增加对物料限定的稳定性,可以在上料通道a1中沿第二方向上的两侧分别设置有限位压紧件,且上料通道a1中沿第三方向上的两侧也分别设置有限位压紧件,则在水平方向内将物料完全固定,可以增物料在切割工位的稳定性,便于提高切割工作的切割精准度。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 arranged on both upward sides, so that the material is 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.
例如,对于第一驱动机构的设置,第一驱动机构可以包括沿着竖直方向延伸的升降杆、以及与升降杆连接并用于驱动升降杆上下移动的第一动力组件,承载板a21安装在升降杆的顶端,且为了保证承载板的稳定性,设置多个升降杆并行分布,多个升降杆的顶端与承载板a21连接共同支撑承载板a21,提高承载板a21的稳定性,其中,第一动力组件例如可以包括气缸组件。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 assembly 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 The top of the rod, and in order to ensure the stability of the loading plate, a plurality of elevating rods are arranged in parallel, and the tops of the multiple elevating rods are connected with the loading plate a21 to jointly support the loading plate a21, so as to improve the stability of the loading plate a21, wherein, the first The power pack may include, for example, a cylinder pack.
接着,对于第二驱动机构的设置,第二驱动机构可以包括与限位夹紧件连接的推杆,推杆的一端与限位夹紧件连接,另一端与第二动力组件连接,第二动力组件也可以为气缸组件,气缸驱动限位夹紧件向前或向后动作来夹紧物料或放松物料,动作迅速且精准度高,有利于提高工作效率。Next, for the setting of the second driving mechanism, the second driving mechanism may include a push rod connected with the limit clamp, one end of the push rod is connected with the limit clamp, and the other end is connected with the second power assembly, and the second The power component can also be a cylinder component. The cylinder drives the limit clamp to move forward or backward to clamp or loosen the material. The action is fast and accurate, which is conducive to improving work efficiency.
除此之外,对于第三驱动机构的设置,第三驱动机构可以包括第一导轨、安装在第一导轨上的滑动块、以及与滑动块传动连接且用于驱动滑动块沿着第一导轨滑动的第三动力组件,第一导轨沿着第三方向延伸设置,且第一导轨位于其中一个支撑面的下方,且第一导轨可以在支撑面的正下方,也可以在支撑面相对上料通道的外侧,第一导轨上设置有滑动块,滑动块上连接有一朝向两个支撑面之间的间隔延伸的延伸板,割刀组件a51安装在延伸板上,使得割刀组件a51可以伸到两个支撑面的间隔下方,方便对物料的待切割面进行切割。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 assembly, 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 passage, the first guide rail is provided with a sliding block, which is connected with an extension plate extending toward the interval between the two supporting surfaces, and the cutting knife assembly a51 is installed on the extension plate so that the cutting knife assembly a51 can reach Below the interval between the two support surfaces, it is convenient to cut the surface of the material to be cut.
例如,在第三方向上,上料通道a1中至少与割刀组件a51的初始位置对应的一侧设置有扩口组件a6,扩口组件a6包括:用于将物料侧面的外包装膜沿第二方向扩张的分扩组件a61、用于驱动分扩组件a61沿第三方向动作的第四驱动机构a62、以及用于驱动分扩组件a61沿第一方向动作的第五驱动机构a63,物料在外包装膜包裹时,例如,多个包装套筒叠置在一块,在进行包装时,外包装膜会在层叠的方向上的两端留有豁口,便于外包装膜打开,其中,物料在本实施例中的拆膜装置中进行切割拆包时,物料中包装套 筒叠置的方向与第三方向平行,也就是外包装膜上的豁口在第三方向上,在割刀组件a51的初始位置的一侧设置分扩组件a61,分扩组件a61可以在割刀组件进行切割之前,在第四驱动机构a62的驱动下靠近物料,并且对准外包装膜的豁口,分扩组件a61伸进外包装膜的豁口内,将豁口处的外包装膜沿着第二方向向外扩展,将豁口撑开,挣得更大,然后,在第五驱动机构a63的驱动下,分扩组件a61向下移动,将豁口一直向下撑开,一直到与割刀组件在竖直方向相对,使得割刀组件a51可以将豁口这一侧的外包装膜割到,然后割刀组件a51可以初始位置这一侧在物料侧面的豁口开始切割,将物料待切割面的切割开口与侧面豁口连通,也就是将豁口这一侧和物料底侧全部豁开,使得外包装膜更容易与物料本身分离,也便于底部切割更准确、彻底。For example, in the third direction, at least one side corresponding to the initial position of the cutting knife assembly a51 in the feeding channel a1 is provided with a flaring assembly a6, and the flaring assembly a6 includes: for wrapping the outer packaging film on the side of the material along the second direction expansion sub-expansion assembly a61, the fourth drive mechanism a62 for driving the sub-expansion assembly a61 to move in the third direction, and the fifth drive mechanism a63 for driving the sub-expansion assembly a61 to move in the first direction. When film wrapping, for example, a plurality of packaging sleeves are stacked together, when packaging, the outer packaging film will leave gaps at both ends in the stacking direction, which is convenient for the outer packaging film to be opened, wherein the materials in this embodiment When cutting and unpacking in the film unpacking device in the material, the stacking direction of the packaging sleeve in the material is parallel to the third direction, that is, the gap on the outer packaging film is in the third direction, at a position of the initial position of the cutter assembly a51 The side is provided with a sub-expansion assembly a61, and the sub-expansion assembly a61 can approach the material under the drive of the fourth driving mechanism a62 before cutting by the cutter assembly, and align with the opening of the outer packaging film, and the sub-expansion assembly a61 extends into the outer packaging film In the gap, the outer packaging film at the gap is expanded outward along the second direction, and the gap is stretched to make it bigger. Then, driven by the fifth driving mechanism a63, the expansion assembly a61 moves downward, The gap is always stretched downwards until it is vertically opposite to the cutter assembly, so that the cutter assembly a51 can cut the outer packaging film on this side of the gap, and then the cutter assembly a51 can be placed on the side of the initial position. The gap on the side of the material starts to be cut, and the cutting opening of the material to be cut is connected with the side gap, that is, the side of the gap and the bottom side of the material are all opened, so that the outer packaging film is easier to separate from the material itself, and it is also convenient for bottom cutting More accurate and thorough.
例如,上述第四驱动机构可以包括气缸组件,该气缸组件包括缸体和活塞杆,活塞杆可以沿着第三方向伸缩,分扩组件就可以安装在活塞杆的自由端,可以在第三方向上随着活塞杆动作。例如,第五驱动机构也可以设置有气缸组件,并且该气缸组件可以为无杆气缸组件,该无杆气缸组件包括缸体,缸体上具有轨道,且缸体上安装有沿着轨道的延伸方向动作的活塞块,例如,该无杆气缸的轨道的延伸方向沿竖直方向设置,活塞块沿着竖直方向上下移动,将第四驱动机构通过连接板安装在活塞块上,使得分扩组件和第四驱动机构整体可以上下移动。For example, the above-mentioned fourth driving mechanism may include a cylinder assembly, which includes a cylinder body and a piston rod, and the piston rod can expand and contract along the third direction. With the action of the piston rod. For example, the fifth drive mechanism can also be provided with a cylinder assembly, and the cylinder assembly can be a rodless cylinder assembly, which includes a cylinder body with a track on it, and an extension along the track installed on the cylinder body. Direction action piston block, for example, the extension direction of the track of the rodless cylinder is set along the vertical direction, the piston block moves up and down along the vertical direction, the fourth drive mechanism is installed on the piston block through the connecting plate, so that the expansion The assembly and the fourth driving mechanism can move up and down as a whole.
例如,对于分扩组件的设置,分扩组件a61可以包括两个可沿第二方向彼此靠近或远离的分扩件a611、以及用于驱动分扩件动作的第六驱动机构,优选的,第六驱动机构可以包括夹爪气缸,夹爪气缸包括缸体和安装于缸体的两个夹爪,两个夹爪可以沿着第二方向彼此靠近或远离,每个夹爪上连接一个分扩件,使得分扩件可以对外包装膜上的豁口进行扩张,非常方便、快捷。For example, for the setting of the sub-expansion assembly, the sub-expansion assembly a61 may include two sub-expansion parts a611 that can approach or move away from each other along the second direction, and a sixth driving mechanism for driving the sub-expansion parts. Preferably, the first The six-drive mechanism may include a jaw cylinder, 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 to a split expander. Parts, so that the expansion part can expand the gap on the outer packaging film, which is very convenient and fast.
例如,上述扩口组件a6可以设置两个,并且,扩口组件a6设置在上料通道a1在第三方向上的两侧,使得物料在切割前外包装膜的两个豁口都可以被扩张撑开,使得切割之后物料的两个侧面的豁口和底面的外包装膜切割的切割口连通起来,形成更大的开口,便于将外包装膜从物料本身上取下。For example, two flare assemblies a6 can be provided, and the flare assemblies a6 are arranged on both sides of the feeding channel a1 in the third direction, so that the two gaps of the outer packaging film of the material can be expanded and stretched before cutting After cutting, the gaps on the two sides of the material are connected with the cutting openings 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.
在上述拆膜装置的结构基础上,如图10所示,割刀组件a51可以包括割刀a511,并且割刀朝向支撑面的一侧设置有用于与物料接触的接触块a512, 且接触块a512与割刀a511的刀刃同向的一端超过刀刃以形成探出部,探出部的自由端为“V”形结构,“V”形结构的尖端与割刀的刀刃同向设置,接触块的尖端可以在前边先伸入外包装膜和物料之间将外包装膜勾住,在割刀组件继续向前移动时,割刀的刀刃与外包装膜接触,将勾住的外包装膜割开,准确、快捷,有利于保证切割准确性。On the basis of the structure of the above-mentioned film removal device, as shown in Figure 10, the cutter assembly a51 can include a cutter a511, and the side of the cutter facing the support surface is provided with a contact block a512 for contacting with the material, and the contact block a512 The end 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 can be inserted between the outer packaging film and the material at the front to hook the outer packaging film. When the cutter assembly continues to move forward, the blade of the cutter will contact the outer packaging film and cut the hooked outer packaging film. , Accurate and fast, which is conducive to ensuring cutting accuracy.
另外,为了便于外包装膜切割之后顺利与物料本身分离,如图7所示,上述拆膜装置还设置有在第二方向上分别位于上料通道a1相对的两侧的两个分膜组件a7,每个分膜组件a7包括用于抓取切割后的外包装膜的抓取组件a71和用于驱动抓取组件a71沿远离或靠近上料通道a1动作的第七驱动机构,在第一方向上,抓取组件a71位于支撑面和限位导向件a41之间,例如,抓取组件a71可以为吸盘组件a711,每个吸盘组件a711中可以包括沿着第三方向分布的至少两个真空吸盘,当物料的待切割面的外包装膜切割完成后,在第七驱动机构的驱动下,吸盘组件a711靠近物料,真空吸盘进行吸气,将物料在第二方向上的两侧的外包装膜吸住,然后,在第七驱动机构的驱动下,可以将被吸住的外包装膜向外侧拉扯,远离物料本身,然后松开外包装膜,进而将侧面的外包装膜与物料本身分开,便于后续从顶侧将外包装膜取走。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 separation components a7 respectively located on the opposite sides of the feeding channel a1 in the second direction Each film separation assembly a7 includes a grabbing assembly a71 for grabbing the cut outer packaging film and a seventh drive mechanism for driving the grabbing assembly a71 to move away from or close to the feeding channel a1, and the first side Upward, the grabbing assembly a71 is located between the support surface and the limit guide a41, for example, the grabbing assembly a71 can be a suction cup assembly a711, and each suction cup assembly a711 can include at least two vacuum suction cups distributed along the third direction , when the outer packaging film on the surface to be cut of the material is cut, under the drive of the seventh driving mechanism, the suction cup assembly 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 sucking, 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, thereby separating the side outer packaging film from the material itself, This facilitates subsequent removal of the outer packaging film from the top side.
作为一种可实现的方式,每个第七驱动机构可以包括沿着一个沿着第三方向延伸的连接轴和与连接轴转动连接的板件、以及与板件传动连接并用于驱动板件绕连接轴转动的第四动力组件,连接轴和板件位于上料通道在第二方向上的一侧,板件的上边缘部与连接轴转动连接,板件在绕连接轴转动的过程中,板件的下边缘部就可以远离或靠近上料工位,其中,真空吸盘可以安装在板件朝向上料通道的一侧,并且在靠近板件的下边缘的部位,第四动力组件驱动板件绕连接轴转动,可以将板件向物料靠近使得真空吸盘去抓取外包装膜,也可以将板件掀起远离使得真空吸盘抓着外包装膜远离物料本身,动作简单精准、且稳定可靠,有利于提高工作效率。As an implementable manner, each seventh drive mechanism may include a connecting shaft extending along a third direction and a plate member rotatably connected to the connecting shaft, and a drive connection with the plate member for driving the plate member to rotate The fourth power assembly that the connecting shaft rotates, 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 lower edge of the plate can be far away from or close to the loading station, wherein the vacuum suction cup can be installed on the side of the plate facing the feeding channel, and at the position near the lower edge of the plate, the fourth power assembly drives the plate The parts rotate around the connecting shaft, the board can be moved closer to the material so that the vacuum suction cup can grab the outer packaging film, and the board can also 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. It is conducive to improving work efficiency.
例如,为了更好的对物料进行支撑,以及更容易的将外包装膜进行拆除,可以将支撑面设置活动的支撑面,例如,如图8所示,每个支撑组件a3包括支撑板a31、以及用于驱动支撑板a31沿第二方向动作的第八驱动机构a32,支撑板a31的顶面形成支撑面,支撑板a31可以沿着第二方向靠近或远离上料通道,一方面,可以调节两个支撑板之间的间隔宽度,可以对物料的边缘 部的支撑宽度进行调整,对物料进行更好的支撑,另一方面,当待切割面的外包装膜切割完毕,需要对两边的外包装膜拉起远离物料本身前,承载板升上来支撑着物料,这时可以使得两个支撑板远离物料,不对物料进行支撑,则在底侧并且位于物料侧边缘部的外包装膜不会压在支撑板上,完全远离支撑板,避免支撑板阻碍外包装膜被拉起,使得两侧的外包装膜更容易被拉起,有利于提高工作效率。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 assembly a3 includes a support plate a31, And the eighth drive mechanism a32 for driving the support plate a31 to move along 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 be adjusted The width of the interval 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 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.
一般在外包装膜切割、拆除的过程中可能会产生碎屑,以及物料本身会有些杂陈,可以在外包装膜去除之后对物料本身进行一下除尘作业,例如,如图9所示,对应于拆膜装置设置除尘装置,除尘设置:位于限位导向件a41背离支撑组件a3一侧的除尘板a8、以及安装于除尘板a8背离限位导向件a41一侧的顶部除尘组件,除尘板a8上设置有与上料通道a1相对且连通的开口a81,例如,顶部除尘组件包括:吸尘部a82、以及用于驱动吸尘部a82沿开口a81的一侧边的延伸方向动作的第九驱动机构a84,并且第九驱动机构可以设置有沿着开口中与第三方向平行的侧边延伸的第二导轨a841,并且第二导轨上安装有与第二导轨滑动连接的移动块,吸尘部安装在移动块上,并且移动块传动连接于第五动力组件,第五动力组件驱动移动块沿着第二导轨移动,可以在当承载板将物料向上升,并且使得物料与吸尘板的顶面平齐的时候停止,吸尘部a82随着移动块的移动沿着开口的侧边移动,并且对物料的顶面对物料进行吸尘,以便于除去物料顶部的杂尘、碎屑等。例如,在图9中,除尘装置与拆膜装置设置成一体。例如,图9所示的除尘装置为根据本公开一实施例的包装套筒自动上料系统所包括的除尘装置的一个示例。Generally, debris may be generated during the cutting and removal of the outer packaging film, and the material itself will be somewhat dirty. After the outer packaging film is removed, the material itself can be dedusted. For example, as shown in Figure 9, it corresponds to removing the film. The device is equipped with a dust removal device, dust removal settings: the dust removal plate a8 located on the side of the limit guide a41 away from the support assembly a3, and the top dust removal assembly installed on the side of the dust removal plate a8 away from the limit guide a41, and the dust removal plate a8 is provided with The opening a81 opposite to and connected to the feeding channel a1, for example, the top dust removal assembly 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 parallel to the third direction in the opening, 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 assembly, and the fifth power assembly drives the moving block to move along the second guide rail, so that the material can be lifted upward when the loading plate is used, and the material is flush with the top surface of the dust collection board When it stops, the dust suction part a82 moves along the side of the opening with the movement of the moving block, and vacuums the top surface of the material, so as to remove the dust and debris on the top of the material. For example, in Fig. 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.
另外,如图9所示,除尘板a8上还设置有通风槽a83,通风槽a83连接有底部吸尘组件,将拆完外包装膜的物料向上托出,并且取出之后,将物料在除尘板a8的顶面上移动,并且可以在通风槽a83处经过,就可以使得底部吸尘组件对物料的底部进行吸尘,以便于除去物料底部的杂尘、碎屑等,进一步增加对物料的除尘效果。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 component, and the material after the outer packaging film has been removed is lifted up, and after taking it out, the material is placed 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 component 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 of the material Effect.
在上述拆膜装置的结构基础上,如图9所示,对应于拆膜装置还设置:翻转组件a9,和摄像组件,翻转组件a9包括翻转支架、可绕自身轴线旋转的安装于翻转支架且用于承载物料的翻转框体、以及用于驱动翻转框体转动的驱动组件,翻转框体的转动轴线与第一方向垂直,翻转框体的转动轴线可 以与第二方向平行设置,摄像组件设于翻转框体的周侧且用于检测物料上的预设标识,预设标识可以是物料中包装套筒上的一个标识,当物料放置在翻转框体上,摄像组件识别包装套筒上的预设标识,如果预设标识是工作中规定的正向,则不需要对物料进行翻转,可以直接将物料取出放到上料通道的入口,此时待切割面是朝下的,如果预设标识是工作中规定的反向,则驱动组件驱动翻转框体转动,使得预设标识变为正向,也就是对物料进行翻转换向,使得物料可以待切割面朝下的方向进入上料通道,避免对物料的外包装膜切割失误。例如,翻转组件a9是图1和图2所示的翻转装置230的一个示例。例如,摄像组件是图1和图2所示的视觉定位装置220的一个示例。On the basis of the structure of the above-mentioned film tearing device, as shown in Figure 9, corresponding to the film tearing device is also provided with: an overturning assembly a9, and a camera assembly, the overturning assembly a9 includes an overturning bracket, which can rotate around its own axis and is installed on the overturning bracket and The reversible frame for carrying materials and the drive assembly for driving the reversible frame to rotate, the rotation axis of the reversible frame is perpendicular to the first direction, the rotational axis of the reversible frame can be set parallel to the second direction, and the camera assembly is set It is located on the 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 component recognizes the mark on the packing sleeve Preset logo, if the preset logo is the positive direction specified in the work, there is no need to flip the material, and the material can be directly taken out and placed at the entrance of the feeding channel. At this time, the surface to be cut is facing downward. If the preset The logo is the reverse direction specified in the work, then the drive 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 channel with the side to be cut facing downward , to avoid cutting mistakes on the outer packaging film of the material. For example, the overturning component a9 is an example of the overturning device 230 shown in FIGS. 1 and 2 . For example, the camera component is an example of the visual positioning device 220 shown in FIGS. 1 and 2 .
例如,对应于上述拆膜装置还设置设于翻转框体的周侧且用于检测物料上识别码的扫码器,扫码器可以对物料中的包装套筒上的二维码或条形码进行扫描记录,或者对外包装膜上贴附或喷涂的识别码进行扫描记录,对切割的物料进行记录。For example, corresponding to the above-mentioned film removal device, a code scanner that is located on the peripheral side of the overturned frame and used to detect the identification code on the material is also provided. The code scanner can scan the two-dimensional code or barcode on the packaging sleeve in the material. Scan and record, or scan and record the identification code attached or sprayed on the outer packaging film, and record the cut materials.
另外,对应于上述拆膜装置,如图9所示,在上料通道附近还设置有用于收集拆除的外包装膜的收集箱a10,便于收集拆下来的外包装膜,避免污染工作环境。例如,收集箱a10设置于图1和图2所示的膜收集工位500中。In addition, corresponding to the above 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 .
图11至图23示出了根据本公开一实施例的包装套筒自动上料系统中拆膜装置的示例2。例如,在这些附图中,第一方向与竖直方向平行,与水平方向垂直,第二方向与和第三方向所成平面为水平平面,第一方向、第二方向和第三方向均互相垂直;例如,在描述图11至图23时物料就是指如上所述的被外包装膜包覆的成组的包装套筒。图11至图23的拆膜装置是如上所述的拆膜装置210的另一个示例。11 to 23 show Example 2 of the film removal device in the packaging sleeve automatic feeding system according to an embodiment of the present disclosure. For example, in these drawings, the first direction is parallel to the vertical 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 mutually Vertical; for example, when describing Figures 11 to 23, the material refers to the grouped packaging sleeves 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.
如图11至图18所示,拆膜装置用于对物料的外包装膜拆除,包括:沿第一方向延伸的进料通道b1,进料通道b1具有进料口b11,进料通道b1具有第一切割工位和位于进料口b11的第二切割工位;As shown in Figures 11 to 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 The first cutting station and the second cutting station located at the feed port b11;
开膜机构b2,开膜机构b2包括:位于第一切割工位的两个第一切割组件b21,两个第一切割组件b21沿第二方向相对设置,第一方向与第二方向垂直;The film opening mechanism b2, the film opening mechanism b2 includes: two first cutting assemblies b21 located at the first cutting station, the two first cutting assemblies b21 are arranged opposite to each other along the second direction, and the first direction is perpendicular to the second direction;
与两个第一切割组件b21对应设置的两个第一驱动组件b22,在每一对相互对应的第一驱动组件b22和第一切割组件b21中,第一驱动组件b22驱 动第一切割组件b21沿第一路径a0运动,第一驱动组件b22驱动第一切割组件b21沿第二路径b0运动,第一路径a0与第二路径b0包括重合部分s0,重合部分s0与第一方向平行;第一路径a0还包括与重合部分s0连接的第一部分a10,第二路径b0还包括与重合部分s0连接的第二部分b10,第一部分a10与第二部分b10所成角度中,开口朝向进料口b11方向的夹角小于180°;Two first drive assemblies b22 are provided corresponding to the two first cutting assemblies b21, and in each pair of first drive assemblies b22 and first cutting assemblies b21 corresponding to each other, the first drive assembly b22 drives the first cutting assembly b21 Moving along the first path a0, the first driving assembly b22 drives the first cutting assembly 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 angle between the directions is less than 180°;
开膜机构b2还包括:位于第二切割工位的第二切割组件b23,用于驱动第二切割组件b23沿第二方向运动的第二驱动组件b24;其中,第二切割组件b23包括割刀部b231和吸附部b232,吸附部b232用于将外包装膜吸附以将物料与外包装膜存在缝隙,第二驱动组件b24驱动割刀部b231沿第二方向运动。The film opening mechanism b2 also includes: a second cutting assembly b23 located at the second cutting station, and a second driving assembly b24 for driving the second cutting assembly b23 to move along the second direction; wherein, the second cutting assembly b23 includes a cutting knife Part b231 and adsorption part b232, the adsorption part b232 is used to absorb the outer packaging film to form 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.
需要说明的是,上述拆膜装置包括具有进料b11口的进料通道b1,进料通道b1沿第一方向延伸,进料通道b1具有第一切割工位和第二切割工位,将物料放在进料口b11处,开膜机构b2包括两个第一切割组件b21与两个第一切割组件b21对应的两个第一驱动组件b22、第二切割组件b23和驱动第二切割组件b23动作的第二驱动组件b24,位于第一切割工位的两个第一切割组件b21沿第二方向设置,第一方向与第二方向垂直,第一驱动组件b22驱动第一切割组件b21动作,将物料的外包装膜的相对的两个侧面割开,例如,在每一对相互对应的第一驱动组件b22和第一切割组件b21中,首先第一驱动组件b22驱动第一切割组件b21沿第一路径a0运动,然后第一驱动组件b22驱动第一切割组件21沿第二路径b运动,第一路径a0与第二路径b0包括重合部分s0,重合部分s0与第一方向平行,通过第一驱动组件b22驱动第一切割组件b21的运动过程完成对物料的外包装膜侧面的割开,第一路径a0还包括与重合部分s0连接的第一部分a10,第二路径b0还包括与重合部分s0连接的第二部分b10,第一部分a10与第二部分b10所成角度α中,开口朝向进料口方向的夹角小于180°,也就是说,沿第二方向物料的外包装膜的两个相对的侧面被第一切割组件切割成为“Y”形。开膜机构b2还包括位于第二切割工位的第二切割组件b23,第二驱动组件b24驱动给第二切割组件b23沿第二方向运动,第二切割组件b23包括割刀部b231和吸附部b232,吸附部b23保证割刀部b231作用的位置处外包装膜和物料之间存在间隙,第二驱动组件b24驱动割刀部b231将沿第二方向的物料的外包装膜的两 个相对的侧面之间的顶部连接面割开,在连接面上形成第三路径c0。由于吸附部b232用于将外包装膜吸附以将物料与外包装膜存在缝隙,从而在使用割刀部b231对外包装膜切割实现精准切割,并不会损伤内部的包装套筒,物料的外包装膜的拆除过程简单可靠,减轻人工的工作强度,且拆膜装置机械化作业拆除外包装膜,工作效率较高,省时省力,有利于提高生产线的生产效率。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 Placed at the feed port b11, the film opening mechanism b2 includes two first cutting assemblies b21 and two first driving assemblies b22 corresponding to the two first cutting assemblies b21, a second cutting assembly b23 and a driving second cutting assembly b23 The second drive assembly b24 in action, the two first cutting assemblies b21 located at the first cutting station are arranged along the second direction, the first direction is perpendicular to the second direction, the first drive assembly b22 drives the first cutting assembly b21 to move, The opposite two sides of the outer packaging film of material are cut, for example, in every pair of corresponding first driving assembly b22 and first cutting assembly b21, at first the first driving assembly b22 drives the first cutting assembly b21 along The first path a0 moves, and then the first driving assembly b22 drives the first cutting assembly 21 to move along the second path b, the first path a0 and the second path b0 include an overlapping portion s0, the overlapping portion s0 is parallel to the first direction, and passes through the second path A drive assembly b22 drives the movement process of the first cutting assembly b21 to complete the cutting of the side of the outer packaging film of the material. The first path a0 also includes the first part a10 connected with the overlapping part s0, and the second path b0 also includes the overlapping part In the second part b10 connected by s0, 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 sides of the outer packaging film of the material along the second direction The two opposite sides are cut into a "Y" shape by the first cutting assembly. The film opening mechanism b2 also includes a second cutting assembly b23 located at the second cutting station, the second driving assembly b24 drives the second cutting assembly b23 to move in the second direction, and the second cutting assembly 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 driving component 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 connecting surface between the sides is cut to form a third path c0 on the connecting surface. Since the adsorption part b232 is used to absorb the outer packaging film to make 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.
例如,开膜机构b2还包括:位于第二切割工位的吸盘组件b25,吸盘组件b25用于将所述外包装膜吸附以将物料与外包装膜存在缝隙。通过吸盘组件b25将外包装膜吸附以将物料与外包装膜存在缝隙,这样当使用第二切割组件b23对外包装膜进行切割时,可以有效的保护物料。For example, the film opening mechanism b2 further includes: a suction cup assembly b25 located at the second cutting station, and the suction cup assembly b25 is used to absorb the outer packaging film so as to create a gap between the material and the outer packaging film. The outer packaging film is sucked by the suction cup assembly b25 so that there is a gap between the material and the outer packaging film, so that when the second cutting assembly b23 is used to cut the outer packaging film, the material can be effectively protected.
为了方便理解,关于物料的外包装膜的两个相对的侧面切割后的“Y”,参考图14-图15,当物料放入进料口b11,第一驱动组件b22驱动第一切割组件b21动作,对物料的外包装膜的两个相对的侧面进行切割,第一驱动组件b22先后驱动第一切割组件b21沿第一路径a0和第二路径b0进行切割,由于第一驱动组件b22和第一切割组件b21均为两个,在两对对应设置的第一驱动组件b22和第一切割组件b21中,每一对对应的第一驱动组件b22和第一切割组件b21可以同时动作,也可以是分别动作,当然两个第一驱动组件b22同时驱动第一切割组件b21动作时,对物料的外包装膜的切割效率更高。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-Figure 15, when the material is put into the feeding port b11, the first driving component b22 drives the first cutting component b21 action, to cut the two opposite sides of the outer packaging film of the material, the first drive assembly b22 successively drives the first cutting assembly b21 to cut along the first path a0 and the second path b0, because the first drive assembly b22 and the second path There are two cutting assemblies b21. Among the two pairs of correspondingly arranged first driving assemblies b22 and first cutting assemblies b21, each pair of corresponding first driving assemblies b22 and first cutting assemblies b21 can act simultaneously, or They operate separately. Of course, when the two first driving components b22 simultaneously drive the first cutting component b21 to move, the cutting efficiency of the outer packaging film of the material is higher.
如图17所示一并结合图18,关于第二切割组件b23工作过程为:第二驱动组件b24驱动第二切割组件b23中的割刀部b231和吸附部b232一起动作,由于吸附部b232的存在使得物料的外包装膜与包装套筒存在间隙,这样在使用割刀部b231对外包装膜进行精准切割,并不会损伤内部包装套筒,物料的外包装膜的拆除过程简单可靠,减轻人工的工作强度,且拆膜装置机械化作业拆除外包装膜,工作效率较高,省时省力,有利于提高生产线的生产效率。例如,第二驱动组件b24为电缸或是滑轨滑块等可以提供驱动力的结构,第二驱动组件b24带动割刀部b231从物料的中间沿第二方向往一侧运动,然后返回至中部,割刀部b231翻转180°,再从中间往另一侧进行切割。例如,用于使割刀部b231翻转180°的结构可以为电机,电机的正转和反转实现对割刀部b231方向的转换。物料切割后的第三路径c0如图17所示。As shown in Figure 17 and combined with Figure 18, the working process of the second cutting assembly b23 is as follows: the second driving assembly b24 drives the cutter part b231 in the second cutting assembly b23 to act together with the adsorption part b232, due to the adsorption part b232 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 using the cutter part b231 will not damage the inner packaging sleeve. The removal process of the outer packaging film of the material is simple and reliable, reducing 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. 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 turns over 180°, and then cuts 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 FIG. 17 .
下面就驱动第一切割组件b21动作的第一驱动组件b22进行详细描述,继续参考图16,第一驱动组件b22包括:伸缩部b221、割膜轨道b222、切换板b223和沿第三方向延伸的切换轨道b224,例如,伸缩部b221包括气缸,第三方向与第一方向垂直,第三方向与第二方向垂直,切换板b223沿第二方向运动以使割膜轨道b222在第一路径a0和第二路径b0之间切换;The first driving assembly b22 that drives the first cutting assembly b21 will be described in detail below. With continued reference to FIG. Switching the 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 so that the cutting film track b222 is in the first path a0 and switch between the second path b0;
第一切割组件b21沿第一路径a0或第二路径b0方向运动,第一切割组件b21包括:分隔部b211和与分隔部b211连接的刀座b212;The first cutting assembly b21 moves along the first path a0 or the second path b0, and the first cutting assembly b21 includes: a partition b211 and a knife seat b212 connected to the partition b211;
其中,伸缩部b221的固定端沿切换轨道b224的延伸方向运动,伸缩部b221的自由端与b分隔部211连接。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 .
关于第一驱动组件b22的动作过程进行如下描述:b伸缩部221的固定端沿切换轨道b224的延伸方向运动,伸缩部b221的自由端与刀座b212相连接,当伸缩部b221伸长时,驱动分隔部b211和刀座b212一起动作,分隔部b211和刀座b212沿割膜轨道运动,以完成第一路径a0方向的切割,当需要完成第二路径b0的方向进行切割,将切换板沿第二方向运动使得割膜轨道的运动路径改变,从而完成第一路径a0至第二路径b0的切换。分隔部b211对物料的外包装膜进行吹或吸的方式,使得外包装膜和成组的包装套筒具有一定间隙,然后刀座b212上的割刀对外包装膜进行精准切割,并不会损伤内部包装套筒,物料的外包装膜的拆除过程简单可靠,减轻人工的工作强度,且拆膜装置机械化作业拆除外包装膜,工作效率较高,省时省力,有利于提高生产线的生产效率。The action process of the first drive assembly b22 is described as follows: b The fixed end of the telescopic part 221 moves along the extension direction of the switching track b224, and the free end of the telescopic part b221 is connected to the knife seat b212. When the telescopic part b221 is extended, Drive the partition b211 and the knife seat b212 to move together, the partition b211 and the knife seat b212 move along the film cutting 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 switching plate along the The movement in the second direction 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.
例如,分隔部b211包括吸膜座,吸膜座用于将物料的外包装膜吸附,使得成组的包装套筒和外包装膜分离。例如,吸膜座为真空吸附,这样在通过刀座b212上的割刀对与成组的包装套筒分离的外包装膜精准切割,并不会损伤内部包装套筒,物料的外包装膜的拆除过程简单可靠,减轻人工的工作强度,且拆膜装置机械化作业拆除外包装膜,工作效率较高,省时省力,有利于提高生产线的生产效率。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 cutting knife on the knife seat b212 can accurately cut the outer packaging film separated from the group of packaging sleeves, without damaging the inner packaging sleeve and the outer packaging film of the material The removal process 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.
例如,分隔部b211包括吹膜座,吹膜座用于将物料的外包装膜吹起,使得成组的包装套筒和外包装膜分离。例如,吹膜座可以为出风口,将外包装膜吹鼓完成成组的包装套筒和外包装膜的分离。这样在通过刀座b212上的割刀对与成组的包装套筒分离的外包装膜精准切割,并不会损伤内部包装套筒, 物料的外包装膜的拆除过程简单可靠,减轻人工的工作强度,且拆膜装置机械化作业拆除外包装膜,工作效率较高,省时省力,有利于提高生产线的生产效率。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 work Strength, 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.
如图19所示,拆膜装置还包括:进料机构b3和驱动进料机构b3沿第一方向动作的第三驱动组件b4;As shown in FIG. 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 along the first direction;
进料机构b3包括位于进料通道b1内的第一容纳仓b31,第一容纳仓b31具有与进料口b11对应的第一开口,第一容纳仓b31用于承载物料。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.
首先,物料从进料口b11放入进料机构b3中的第一容纳仓b31,在第一容纳仓b31设置有第一开口,物料从第一开口放置第一容纳仓b31中,通过开膜机构b2对放置在第一容纳仓b31内的物料的外包装膜进行切割,当开膜机构b2对外包装膜切割完成后,第三驱动组件b4驱动进料机构b3沿第一方向运动。例如,第三驱动组件b4可以通过伺服电机驱动升降丝杆实现了对第一容纳仓b31在第一方向上的移动。Firstly, the material is put into the first storage bin b31 in the feeding mechanism b3 from the feed port b11, and a first opening is set in the first storage bin b31, and the material is placed in the first storage bin b31 from the first opening, and is passed through the membrane opening. The mechanism b2 cuts the outer packaging film of the material placed in the first storage bin b31, and after the film opening mechanism b2 finishes cutting 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.
当第一容纳仓b31通过第三驱动组件b4朝远离进料口b11的方向运动后,然后,进料机构b3还包括第一翻转组件b32,第一翻转组件b32与第一容纳仓b31传动连接,第一容纳仓b31翻转以使第一开口的朝向在第一方向和第三方向之间切换。也就是说将位于第一容纳仓b31中的成组的包装套筒进行翻转90°。After the first storage bin b31 moves away from the feeding port b11 through the third drive assembly b4, then the feeding mechanism b3 also includes a first turning component b32, which is in transmission connection with the first storage bin b31 , the first storage compartment 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 compartment b31 are turned over by 90°.
例如,进料机构b3还包括:沿第三方向相对设置的两个吸膜组件b33和第四驱动组件b34,吸膜组件b33用于抓取切割后的外包装膜,第四驱动组件b34用于驱动吸膜组件b33靠近或远离进料通道。For example, the feeding mechanism b3 also includes: two suction film assemblies b33 and a fourth drive assembly b34 oppositely arranged along the third direction, the suction film assembly b33 is used to grab the cut outer packaging film, and the fourth drive assembly b34 is used to To drive the suction membrane component b33 close to or away from the feed channel.
吸膜组件b33包括吸盘。例如,吸盘个数可以根据需要进行选择。每个吸膜组件b33中可以包括沿着第二方向分布的至少两个吸盘,吸盘为真空吸盘,当物料的待切割的外包装膜切割完成后,在第四驱动组件b34的驱动下,吸膜组件b33靠近物料,真空吸盘进行吸气,将物料在第二方向上的两侧的外包装膜吸住,然后,在第四驱动组件b34的驱动下,可以将被吸住的外包装膜向外侧拉扯,远离成组的包装套筒,然后松开外包装膜,进而将侧面的外包装膜与成组的包装套筒分开。The suction membrane assembly b33 includes a suction cup. For example, the number of suction cups can be selected according to needs. Each suction film assembly b33 may include at least two suction cups distributed along the second direction, the suction cups are vacuum suction cups, and when the outer packaging film of the material to be cut is cut, driven by the fourth driving assembly b34, the suction cups The membrane component b33 is close to the material, and the vacuum suction cup sucks air to suck 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.
继续参考图11,例如,拆膜装置还包括:Continuing to refer to Fig. 11, for example, the film removal device also includes:
沿第三方向延伸的输送通道b5,且输送通道b5与进料通道b1连通;a delivery channel b5 extending along the third direction, and the delivery channel b5 communicates with the feed channel b1;
与进料通道b1平行的出料通道b6,且进料通道b1与输送通道b5连通,出料通道b6具有出料口b61。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.
由于上述物料的外包装膜和成组的包装套筒已经分开,并且通过第三驱动组件b4将位于第一容纳仓b31中的成组的包装套筒进行翻转90°,翻转后的成组的包装套筒通过位于输送通道b5的推送机构b7推送至第二容纳仓b81,推送机构b7包括推送组件b71和第五驱动组件b72,例如,第五驱动组件b71可以为气缸或是液压缸等可以伸缩的结构。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 delivery channel b5. The pushing mechanism b7 includes a pushing component b71 and a fifth driving component b72. For example, the fifth driving component b71 can be an air cylinder or a hydraulic cylinder. stretchable structure.
第一容纳仓b31具有与第一开口相对的贯穿槽,推送组件b71的推送侧与贯穿槽匹配,推送组件b71的固定端与第五驱动组件b72连接;The first storage bin b31 has a through groove opposite to the first opening, the pushing side of the pushing component b71 matches the through groove, and the fixed end of the pushing component b71 is connected to the fifth driving component b72;
第五驱动组件b72驱动推送组件b71沿第三方向运动,推送组件b71的推送侧从贯穿槽伸入或退出第一容纳仓b31,以将位于第一容纳仓b31内的拆除外包装膜的物料推至出料通道b6处,也就是将成组的包装套筒推送至出料通道b6。The fifth driving component b72 drives the pushing component b71 to move along the third direction, and the pushing side of the pushing component b71 extends into or exits the first storage bin b31 from the through groove, so as to remove the materials located in the first storage bin b31 from which the outer packaging film is removed. Push to the discharge channel b6, that is, push the grouped packaging sleeves to the discharge channel b6.
如图20所示,当然为了保证推动位于第一容纳仓b31中的成组的包装套筒稳定的进入第二容纳仓b81中,推送组件b71包括推送板b711和限位杆b712,推送板b711远离推送侧的一侧为安装侧,第五驱动组件b72与安装侧连接,限位杆b712沿第五驱动组件的运动方向设置,且与安装侧连接。As shown in Figure 20, of course, in order to ensure that the grouped packaging sleeves located in the first storage bin b31 are pushed into the second storage bin b81 stably, the push assembly b71 includes a push plate b711 and a limit rod b712, the push plate b711 The side 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.
也就是说,限位杆b712用于限制推送板b712的运动方向,为了进一步地提升推送板b712运动的平稳性,将限位杆b712设置为两个,且相对于推送板b711的中心处对称设置。当然推送板b712的面积小于或等于第一容纳仓b31的贯穿槽的面积,以方便推送板b711伸出或退出第一容纳仓b31。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.
如图21所示,例如,拆膜装置还包括出料机构b8和驱动出料机构b8沿第一方向动作的第六驱动组件b9;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;
出料机构b8包括位于出料通道内的第二容纳仓b81,第二容纳仓b81具有与出料口b61对应的第二开口,第二容纳仓b81用于承载拆除外包装膜的物料。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.
例如,第六驱动组件b9可以为伺服电机和丝杠螺杆等用于驱动出料机构沿第一方向运动的结构,第六驱动组件b9可以驱动第二容纳仓b81升高至出料口b61,也就是说,当成组的包装套筒由第一容纳仓b31进入第二容纳仓b81后,第六驱动组件b9开始动作,将放置有成组的包装套筒的第二容纳仓 b81上升至出料口b61。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.
当然在将第二容纳仓b81上升至出料口b61前,先通过第二翻转组件b82将其翻转,例如,出料机构8还包括第二翻转组件b82,第二翻转组件b82与第二容纳仓b81传动连接,第二容纳仓b81翻转以使第二开口的朝向在第一方向和第三方向之间切换。Of course, before the second storage bin b81 is raised to the discharge port b61, it is turned over by the second overturning component b82. For example, the discharge mechanism 8 also includes a second overturning component b82. The bin b81 is connected by transmission, and the second accommodating bin b81 is flipped over to switch the direction of the second opening between the first direction and the third direction.
关于物料的整个运动过程进行描述:当物料进入第一容纳仓b31时正面朝向进料口b11,第一容纳仓b31进行90°翻转时,物料的成组的包装套筒正面朝向出料通道b6,然后位于第一容纳仓b31的物料的成组的包装套筒通过推送机构b7推至第二容纳仓b81,第二容纳仓b81翻转90°,使得物料的成组的包装套筒的正面朝下,也就是背离出料口b61的方向。Describe the entire movement process of the material: when the material enters the first storage bin b31, the front faces the feed port 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 faces Down, that is, the direction away from the discharge port b61.
如图22和图23所示,例如,包装套筒自动上料系统还包括除尘机构b10,除尘机构b10位于在出料通道b6,对拆除外包装膜的物料进行除尘。例如,除尘机构b10是根据本公开的至少一实施例的包装套筒自动上料系统中的除尘装置的一个示例,并且除尘装置和拆膜装置设置成一体。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 is 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.
一般在外包装膜切割、拆除的过程中可能会产生碎屑,以及物料本身会有些杂陈,可以在外包装膜去除之后对物料本身进行一下除尘作业,例如,如图22和图23所示,除尘机构b10包括顶部除尘b110,顶部除尘b110包括除尘头b111,当成组的包装套筒在第二容纳仓b81上时,顶部除尘b110位于成组的包装套筒的底面,通过顶部除尘气缸b112驱动除尘头b111沿第二方向往返运动,以达到对成组的包装套筒的底面的吸尘,在当第二容纳仓b81将成组的包装套筒向上升,并且使得成组的包装套筒与出料口的顶面平齐的时候停止,吸尘部随着移动块的移动而运动,完成对成组的包装套筒的底面进行吸尘,以便于除去成组的包装套筒的底面的杂尘、碎屑等。Generally, debris may be generated in the process of cutting and removing the outer packaging film, and the material itself will be somewhat dirty. After the outer packaging film is removed, dust removal can be performed on the material itself. For example, as shown in Figure 22 and Figure 23, dust removal The mechanism b10 includes a top dust removal b110, and the top dust removal b110 includes a dust removal head b111. When the grouped packaging sleeve is on the second storage bin b81, the top dust removal b110 is located on the bottom surface of the grouped packaging sleeve, and the dust removal is driven by the top dust removal cylinder b112 The head b111 moves back and forth along the second direction to achieve dust suction on the bottom surface of the grouped packaging sleeves, and when the second storage bin b81 lifts the grouped packaging sleeves upward, and makes the grouped packaging sleeves and the outlet Stop when the top surface of the feed port is even, 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 impurities on the bottom surface of the grouped packaging sleeves. Dust, debris, etc.
另外,在出料口和进料口的同一平面上还设置有通风槽b1201,通风槽b1201连接有底部除尘b120,将拆完外包装膜的成组的包装套筒向上托出,并且取出之后,将成组的包装套筒在通风槽b1201的顶面上移动,就可以使得底部除尘b120对成组的包装套筒的顶面进行吸尘,以便于除去成组的包装套筒的顶面的杂尘、碎屑等,进一步增加对成组的包装套筒的除尘效果。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.
例如,如图24-图26,根据本公开实施例的包装套筒自动上料系统还包括:用于收集拆除的外包装膜的膜包收集装置b12。例如,膜包收集装置b12 设置在参照图1和图2描述的膜收集工位500中。For example, as shown in FIGS. 24-26 , the packaging sleeve automatic feeding system according to the embodiment of the present disclosure further includes: a film packet collecting device b12 for collecting the removed outer packaging film. For example, the membrane packet collecting device b12 is provided in the membrane collecting station 500 described with reference to FIGS. 1 and 2 .
例如,膜包收集装置b12包括:接料仓b121、出料组件b122和第七驱动组件b123;For example, the film bag collecting device b12 includes: a receiving bin b121, a discharge assembly b122 and a seventh drive assembly b123;
接料仓b121具有连通的收集口b1211和放料口b1212,出料组件b122设置在接料仓b121内,第七驱动组件b123与出料组件b122传动连接,将外包装膜从收集口b1211传送至放料口b1212。The receiving bin b121 has a connected collection port b1211 and a discharge port b1212, the discharge assembly b122 is arranged in the feed bin b121, and the seventh drive assembly b123 is in transmission connection with the discharge assembly b122 to transfer the outer packaging film from the collection port b1211 to discharge port b1212.
通过机械手300将外包装膜从拆膜装置中的出料口拿取,并移动至接料仓b121的收集口b1211,通过出料组件b122将外包装膜挤入出料弯管b123,然后在出料弯管b123的出口处设置有收集袋将外包装膜批量回收。The outer packaging film is taken from the discharge port of the film removal device by the manipulator 300, and moved to the collection port b1211 of the receiving bin b121, and the outer packaging film is squeezed into the discharge elbow b123 through the discharge component b122, and then A collection bag is provided at the outlet of the material elbow b123 to recycle the outer packaging film in batches.
如图25所示,出料组件b122包括第一出料螺杆b1221,第一出料螺杆b1221与第七驱动组件b123传动连接。例如第七驱动组件为驱动电机,通过电机驱动第一出料螺杆b1221转动,将外包装膜挤入出料弯管b123中,以完成外包装膜的回收。As shown in FIG. 25 , the discharge assembly b122 includes a first discharge screw b1221 , and the first discharge screw b1221 is in transmission connection with a seventh drive assembly b123 . For example, the seventh driving component is a driving motor, which drives the first discharge screw b1221 to rotate, and extrudes the outer packaging film into the discharge elbow b123 to complete the recovery of the outer packaging film.
如图26所示,出料组件b122还包括与第一出料螺杆b1221啮合的第二出料螺杆b1222。例如,通过驱动电机驱动第一出料螺杆b1221,第一出料螺杆b1221与第二出料螺杆b1222啮合,第一出料螺杆b1221驱动第二出料螺杆b1222转动以将外包装膜从第一出料螺杆b1221和第二出料螺杆b1222之间挤入下部,以完成外包装膜的回收。As shown in FIG. 26 , the discharge assembly 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 first discharge screw b1222. The lower part is squeezed between the discharge screw b1221 and the second discharge screw b1222 to complete the recovery of the outer packaging film.
在进入拆膜装置之前,包装套筒堆叠放置时,每层包装套筒之间均设有隔纸。例如,隔纸为防滑纸,以增加每层包装套筒之间的摩擦力。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.
如图27-图30所示,根据本公开实施例的包装套筒自动上料系统还包括:隔纸回收装置b13。例如,隔纸回收装置b13设置在图1和图2所示的隔纸回收工位700中。As shown in FIGS. 27-30 , 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 recycling device b13 is set in the separator recycling station 700 shown in FIG. 1 and FIG. 2 .
例如,如图27所示,隔纸回收装置b13包括用于放置隔纸的放置平台b131、推送机构b132和箱体b133;For example, as shown in FIG. 27, the spacer recycling device b13 includes a placement platform b131 for placing spacers, a pushing mechanism b132 and a box body b133;
推送机构b132用于推送放置在放置平台b131的隔纸掉落至箱体b133内。The pushing mechanism b132 is used to push the separator placed on the placing platform b131 to drop into the box b133.
隔纸通过机械手将其运送至放置平台b131上,推送机构b132推送隔纸掉落至箱体内b133,以实现了隔纸的回收。The spacer is transported to the placement platform b131 by the manipulator, and the pushing mechanism b132 pushes the spacer and drops it into the box b133, so as to realize the recycling of the spacer.
如图28-图30所示,隔纸回收装置b13包括机架b134、容纳箱b135和 放置杆b136;As shown in Fig. 28-Fig. 30, the septum recovering device b13 comprises a frame b134, an accommodating box b135 and a placement bar b136;
容纳箱b135可转动的安装在机架b134上,用于放置隔纸的放置杆b136设置在容纳箱b135内。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.
图28为隔纸回收装置b13处于关闭状态,图29为隔纸回收装置b13处于打开状态。继续参考图30,首先将回收装置打开,也就是将容纳箱b135相对于机架b134转动,使得容纳箱b135打开,机械手300将隔纸抓取并移动至容纳箱b135的放置杆b136上。Fig. 28 shows that the separator recycling device b13 is in a closed state, and Fig. 29 shows that the separator recycling 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.
本公开的范围并非由上述描述的实施方式来限定,而是由所附的权利要求书及其等同范围来限定。The scope of the present disclosure is not limited by the embodiments described above, but by the appended claims and their equivalents.

Claims (59)

  1. 一种包装套筒自动上料系统,其用于向包装套筒料轨提供成组的包装套筒,所述包装套筒料轨在进给方向上延伸,所述成组的包装套筒包括堆叠在一起的多个包装套筒,且所述成组的包装套筒以所述多个包装套筒的堆叠方向与所述进给方向平行的状态被提供到所述包装套筒料轨中,所述系统包括:An automatic feeding system for packaging sleeves, which is used to provide groups of packaging sleeves to a packaging sleeve material rail, the packaging sleeve material rail extends in the feeding direction, and the grouped packaging sleeves include a plurality of packaging sleeves stacked together, and the groups of packaging sleeves are 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 includes:
    进料工位,用于堆放堆叠在一起的多个所述成组的包装套筒,每个所述成组的包装套筒被外包装膜包裹;a feeding station for stacking a plurality of the grouped packaging sleeves stacked together, each of the grouped packaging sleeves being wrapped by an outer packaging film;
    处理工位,包括拆膜装置,其将所述外包装膜从所述成组的包装套筒移除;a processing station comprising a film stripping device for removing said outer packaging film from said group of packaging sleeves;
    机械手;以及manipulator; and
    控制器,所述控制器配置为控制所述机械手从所述进料工位拿取所述成组的包装套筒到所述处理工位,并且控制所述机械手将移除了所述外包装膜之后的所述成组的包装套筒从所述处理工位提供到所述包装套筒料轨中。a controller configured to control the manipulator to take the group of packaging sleeves from the feeding station to the processing station, and to control the manipulator to remove the outer packaging The set of packaging sleeves following the film is supplied from the processing station into the packaging sleeve rail.
  2. 根据权利要求1所述的包装套筒自动上料系统,还包括:The packaging sleeve automatic feeding system according to claim 1, further comprising:
    缓存工位,其用于堆放被所述外包装膜包裹的所述成组的包装套筒,a buffer station for stacking said groups of packaging sleeves wrapped by said outer packaging film,
    所述进料工位包括能够在关闭位置和打开位置移动的防护挡板,在所述关闭位置时,所述防护挡板阻止所述机械手进入所述进料工位,在打开位置时,所述防护挡板允许所述机械手进入所述进料工位,The feeding station includes a protective baffle movable in a closed position, in which the protective baffle prevents the manipulator from entering the feeding station, and an open position, in which the protective baffle The protective baffle allows the manipulator to enter the feeding station,
    所述控制器配置为:The controller configuration is:
    当接收到指示补料的用户命令时,控制所述进料工位的所述防护挡板移动到所述关闭位置,并且在所述防护挡板处于关闭位置时,控制所述机械手从所述缓存工位拿取成组的包装套筒到所述处理工位;以及When a user command indicating feeding 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 move from the a buffer station takes groups of packaging sleeves to said processing station; and
    当接收到指示完成补料的用户命令时,控制所述进料工位的所述防护挡板移动到所述打开位置,并且在所述防护挡板处于打开位置时,控制所述机械手从所述进料工位拿取成组的包装套筒到所述处理工位。When a user command indicating completion of feeding is received, the protective flap of the feeding station is controlled to move to the open position, and when the protective flap is in the open position, the manipulator is controlled to move from the The infeed station takes groups of packaging sleeves to the processing station.
  3. 根据权利要求2所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to claim 2, wherein,
    所述进料工位还包括进料安全门,通过其从所述系统的外部进行补料,The feed station also includes a feed safety door through which refilling takes place from outside the system,
    所述控制器配置为,仅当所述进料工位的所述防护挡板移动到所述关闭位置才允许所述进料安全门打开。The controller is configured to allow the infeed safety door to open only when the protective baffle of the infeed station is moved to the closed position.
  4. 根据权利要求2或3所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to claim 2 or 3, wherein,
    所述缓存工位和所述进料工位在垂直于所述进给方向的横向方向上并排设置,并在与所述进给方向平行的方向上与所述包装套筒料轨相对设置,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 material rail in a direction parallel to the feeding direction,
    所述处理工位和所述机械手的基座在垂直于所述进给方向的所述横向方向上并排设置,并在与所述进给方向平行的方向上设置在所述包装套筒料轨与所述缓存工位和所述进料工位之间,并且The processing station and the base of the manipulator are arranged side by side in the transverse direction perpendicular to the feeding direction and arranged on the packaging sleeve rail in a direction parallel to the feeding direction between the buffer station and the feed station, and
    在垂直于所述进给方向的所述横向方向上,所述机械手的基座和所述进料工位分别与所述处理工位和所述缓存工位相对设置。In the transverse direction perpendicular to the feeding direction, the base of the manipulator and the feeding station are arranged opposite to the processing station and the buffer station, respectively.
  5. 根据权利要求2-4中任一项所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to any one of claims 2-4, wherein,
    所述机械手可旋转地安装到基座,所述进料工位、所述缓存工位、所述处理工位以及所述包装套筒料轨围绕所述基座在所述机械手的运动轨迹上依次设置。The manipulator is rotatably mounted to a base, and the feed station, the buffer station, the processing station, and the packaging sleeve rail surround the base on the motion trajectory of the manipulator Set in sequence.
  6. 根据权利要求2-5中任一项所述的包装套筒自动上料系统,还包括:The packaging sleeve automatic feeding system according to any one of claims 2-5, further comprising:
    进料进度传感器,其配置为感测所述包装套筒料轨中的包装套筒的数量;以及a feed progress sensor configured to sense the number of packaging sleeves in the packaging sleeve rail; and
    缓存数量传感器,其配置为感测所述缓存工位中的被外包装膜包裹的成组的包装套筒的数量,a buffer quantity sensor configured to sense the quantity of the grouped packaging sleeves wrapped by the outer packaging film in the buffer station,
    所述控制器配置为:The controller configuration is:
    当包装套筒料轨中的包装套筒的数量满足第一预定条件并且所述缓存工位中的被外包装膜包裹的成组的包装套筒的数量满足第二预定条件时,控制所述机械手从所述进料工位拿取被外包装膜包裹的成组的包装套筒到所述缓存工位。When the quantity of the packaging sleeve in the packaging sleeve material track satisfies the first predetermined condition and the quantity of the grouped packaging sleeve wrapped by the outer packaging film in the buffer station satisfies the second predetermined condition, control the The manipulator takes the grouped packaging sleeves wrapped by the outer packaging film from the feeding station to the buffer station.
  7. 根据权利要求6所述的包装套筒自动上料系统,其中The packaging sleeve automatic feeding system according to claim 6, wherein
    所述包装套筒料轨为多个,所述第一预定条件是多个所述包装套筒料轨中均包括大于第一预定数量的包装套筒,There are multiple packaging sleeve material rails, and the first predetermined condition is that each of the multiple packaging sleeve material rails includes more than the first predetermined number of packaging sleeves,
    所述第二预定条件是所述缓存工位包括少于第二预定数量的被外包装膜包裹的成组的包装套筒。The second predetermined condition is that the buffer station comprises less than a second predetermined number of groups of packaging sleeves wrapped with an overwrap film.
  8. 根据权利要求1-7中任一项所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to any one of claims 1-7, wherein,
    所述机械手包括第一末端执行器,所述机械手配置为利用所述第一末端执行器将移除了所述外包装膜后的所述成组的包装套筒从所述处理工位提供 到所述包装套筒料轨,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 the packing sleeve rail,
    所述第一末端执行器包括:The first end effector includes:
    第一基部和安装到所述第一基部的一对夹爪、推动件和拉动件,a first base and a pair of jaws, a pusher and a puller mounted to the first base,
    所述一对夹爪相对于所述第一基部在第一方向上延伸并且配置为在垂直于所述第一方向的第二方向上在夹取位置和释放位置之间移动,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,
    所述推动件具有垂直于所述第一方向的推动面,The pushing member has a pushing surface perpendicular to the first direction,
    所述拉动件配置为能够附接到所述成组的包装套筒并且能够在所述第一方向上移动。The puller is configured to be attachable to the set of packaging sleeves and to be movable in the first direction.
  9. 根据权利要求8所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to claim 8, wherein,
    所述控制器配置为:The controller configuration is:
    控制所述机械手以移动所述第一基部使得所述第一方向与所述成组的包装套筒中的所述多个包装套筒的堆叠方向对齐;controlling the manipulator to move the first base so that the first direction is aligned with a stacking direction of the plurality of packaging sleeves in the set of packaging sleeves;
    控制所述一对夹爪夹取所述成组的包装套筒并且将所述成组的包装套筒放置到所述包装套筒料轨;controlling the pair of jaws to grip the set of packaging sleeves and place the set of packaging sleeves on the packaging sleeve material rail;
    当所述成组的包装套筒被放置到所述包装套筒料轨后,控制所述推动件在所述堆叠方向上推动所述成组的包装套筒;以及After the group of packaging sleeves is placed on the packaging sleeve material rail, controlling the pusher to push the group of packaging sleeves in the stacking direction; and
    控制所述拉动件在所述推动件推动所述成组的包装套筒的同时,拉动所述包装套筒料轨的闸门压块在所述堆叠方向上移动直到所述推动件的所述推动面附近以使得所述闸门压块能够释放以按压包装套筒,controlling the pulling member to pull the gate pressing block of the packing sleeve rail to move in the stacking direction until the pushing of the pushing member pushes the grouped packing sleeves. near the surface so that the shutter block can be released to depress the packaging sleeve,
    所述闸门压块在所述进给方向上按压所述包装套筒料轨中的包装套筒,所述闸门压块配置为在被所述拉动件拉动时,能够围绕垂直于所述进给方向的竖直方向枢转到停止按压所述包装套筒的位置。The gate pressing block presses the packaging sleeve in the packaging sleeve material rail in the feeding direction, and the shutter pressing block is configured to be able to wrap around the The vertical direction of the direction is pivoted to the position where the pressing of the packaging sleeve is stopped.
  10. 根据权利要求8或9所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to claim 8 or 9, wherein,
    所述机械手还包括第二末端执行器,所述机械手配置为利用所述第二末端执行器将所述成组的包装套筒从所述进料工位拿取到所述处理工位,所述第二末端执行器包括吸盘。The manipulator also includes a second end effector configured to take the set of packaging sleeves from the infeed station to the processing station using the second end effector, so The second end effector includes a suction cup.
  11. 根据权利要求1-10中任一项所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to any one of claims 1-10, wherein,
    所述处理工位还包括:The processing station also includes:
    除尘装置,其配置为对移除了所述外包装膜后的所述成组的包装套筒进行除尘。The dust removal device is configured to remove dust from the set of packaging sleeves after the outer packaging film is removed.
  12. 根据权利要求2-11中任一项所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to any one of claims 2-11, wherein,
    所述处理工位还包括:The processing station also includes:
    定位装置和翻转装置,所述定位装置感测所述成组的包装套筒的取向,所述翻转装置用于使所述成组的包装套筒翻转以使其正确定位。Positioning means for sensing the orientation of the set of packaging sleeves and an inverting means for inverting the set of packaging sleeves for correct positioning.
  13. 根据权利要求12所述的包装套筒自动上料系统,还包括:The packaging sleeve automatic feeding system according to claim 12, further comprising:
    膜收集工位,其收集从所述成组的包装套筒移除的所述外包装膜;a film collection station that collects said overwrap film removed from said set of packaging sleeves;
    不良品回收工位,其收集无法正确定位的所述成组的包装套筒;以及a reject recovery station that collects said groups of packaging sleeves that could not be properly positioned; and
    隔纸回收工位,其收集隔纸,Separator recycling station, which collects separators,
    所述成组的包装套筒在所述进料工位处堆叠成多个层,每个层包括阵列布置的多个所述成组的包装套筒,并且所述多个层由所述隔纸隔开。The group of packaging sleeves is stacked at the feeding station into a plurality of layers, each layer comprising a plurality of the group of packaging sleeves arranged in an array, and the plurality of layers are separated by the spacer paper separated.
  14. 根据权利要求13所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to claim 13, wherein,
    所述控制器配置为:The controller configuration is:
    控制所述机械手从所述拆膜装置处拿取被移除的所述外包装膜到所述膜收集工位,controlling the manipulator to take the removed outer packaging film from the film removal device to the film collection station,
    控制所述机械手从所述翻转装置处拿取无法正确定位的成组的包装套筒到所述不良品回收工位,并且Controlling the manipulator to take the grouped packaging sleeves that cannot be correctly positioned from the turning device to the defective product recovery station, and
    控制所述机械手从所述进料工位拿取所述隔纸到所述隔纸回收工位。Controlling the manipulator to take the separator from the feeding station to the separator recycling station.
  15. 根据权利要求13或14所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to claim 13 or 14, wherein,
    所述缓存工位和所述进料工位在垂直于所述进给方向的横向方向上并排设置,并在与所述进给方向平行的方向上与所述包装套筒料轨相对设置,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 material rail in a direction parallel to the feeding direction,
    所述处理工位和所述机械手的基座在垂直于所述进给方向的所述横向方向上并排设置,并在与所述进给方向平行的方向上设置在所述包装套筒料轨与所述缓存工位和所述进料工位之间,并且The processing station and the base of the manipulator are arranged side by side in the transverse direction perpendicular to the feeding direction and arranged on the packaging sleeve rail in a direction parallel to the feeding direction between the buffer station and the feed station, and
    在垂直于所述进给方向的所述横向方向上,所述机械手的基座和所述进料工位分别与所述处理工位和所述缓存工位相对设置,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,
    所述膜收集工位在垂直于所述进给方向的所述横向方向上设置在所述处理工位的远离所述机械手的所述基座的一侧,said film collection station is arranged in said transverse direction perpendicular to said feed direction on a side of said processing station remote from said base of said manipulator,
    所述隔纸回收工位在垂直于所述进给方向的所述横向方向上设置在所述缓存工位的远离所述进料工位的一侧,The spacer recovery station is arranged on the side of the buffer station away from the feeding station in the transverse direction perpendicular to the feeding direction,
    所述膜收集工位、所述不良品回收工位和所述隔纸回收工位在与所述进 给方向平行的方向上依次设置所述系统的外周处。The film collection station, the defective product recovery station and the separator paper recovery station are sequentially arranged at the outer periphery of the system in a direction parallel to the feeding direction.
  16. 根据权利要求1-15任一项所述的包装套筒自动上料系统,其中,所述拆膜装置包括:The packaging sleeve automatic feeding system according to any one of claims 1-15, wherein the film removal device comprises:
    沿第一方向延伸的上料通道,所述上料通道内具有切割工位;A feeding channel extending along the first direction, with a cutting station inside the feeding channel;
    上料组件,所述上料组件包括:位于所述上料通道内且沿所述第一方向动作的承载板、以及用于驱动所述承载板动作的第一驱动机构,所述承载板用于承载物料且支撑于所述物料的待切割面,其中所述物料即为被所述外包装膜包裹的所述成组的包装套筒;A feeding assembly, the feeding assembly 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 to move, and the loading plate is used for Carrying materials and supporting them on the surface to be cut of the materials, wherein the materials are the grouped packaging sleeves wrapped by the outer packaging film;
    沿第二方向排列且分别位于所述上料通道相对的两侧的两个支撑组件,所述第二方向与所述第一方向垂直,所述支撑组件具有支撑面,在所述第二方向上,所述承载板位于两个所述支撑面之间,两个所述支撑面用于分别支撑所述物料的待切割面的两个相对的侧边部,当所述物料位于所述切割工位时,所述物料支撑于两个所述支撑面上;Two support assemblies 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 support assemblies have a support surface, and in the second direction Above, the bearing plate is located between the two supporting surfaces, and the two supporting surfaces are used to respectively support the two opposite sides of the material to be cut. During the station, the material is supported on the two support surfaces;
    限位组件,所述限位组件包括位于所述上料通道周侧的限位导向件,所述限位导向件位于所述支撑面朝向所述切割工位的一侧;且所述上料通道周侧中至少相对的两侧的限位导向件为限位压紧件,各所述限位夹紧件连接有第二驱动机构,所述第二驱动机构用于驱动所述限位压紧件沿靠近或远离所述物料的方向动作;A limit assembly, the limit assembly includes a limit guide located on the peripheral side of the feeding channel, the limit guide is located on the side of the support surface facing the cutting station; and the feeding The position-limiting guides on at least two opposite sides of the channel circumference are position-limiting pressing parts, and each of the position-limiting clamping parts is connected with a second driving mechanism, and the second driving mechanism is used to drive the position-limiting pressing parts. the fastener acts in a direction towards or away from said material;
    切割组件,所述切割组件包括:位于所述支撑面背离所述切割工位的一侧的割刀组件、以及用于驱动所述割刀组件沿第三方向动作的第三驱动机构,所述第三方向与所述第一方向垂直,且所述第三方向与所述第二方向垂直,所述割刀组件用于与所述物料的待切割面相对并切割所述物料的外包装膜。A cutting assembly, the cutting assembly includes: a cutting knife assembly located on a side of the support surface away from the cutting station, and a third driving mechanism for driving the cutting knife assembly to move in a third direction, the The third direction is perpendicular to the first direction, and the third direction is perpendicular to the second direction, and the cutter assembly is used to face the surface to be cut of the material and cut the outer packaging film of the material .
  17. 根据权利要求16所述的包装套筒自动上料系统,其中,在所述第三方向上,所述上料通道中至少与所述割刀组件的初始位置对应的一侧设置有扩口组件,所述扩口组件包括:用于将所述物料侧面的外包装膜沿所述第二方向扩张的分扩组件、用于驱动所述分扩组件沿所述第三方向动作的第四驱动机构、以及用于驱动所述分扩组件沿所述第一方向动作的第五驱动机构。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 the initial position of the cutting knife assembly is provided with a flaring assembly, The expansion assembly includes: a sub-expansion assembly for expanding the outer packaging film on the side of the material along the second direction, and a fourth driving mechanism for driving the sub-expansion assembly to move along the third direction , and a fifth drive mechanism for driving the expansion assembly to move along the first direction.
  18. 根据权利要求17所述的包装套筒自动上料系统,其中,所述分扩组件包括两个可沿所述第二方向彼此靠近或远离的分扩件、以及用于驱动所述分扩件动作的第六驱动机构。The automatic feeding system for packaging sleeves according to claim 17, wherein the expansion assembly includes two expansion parts that can approach or move away from each other along the second direction, and is used for driving the expansion parts. Action of the sixth drive mechanism.
  19. 根据权利要求17所述的包装套筒自动上料系统,其中,在所述第三方向上,所述上料通道的两侧均设置有所述扩口组件。The automatic feeding system for packaging sleeves according to claim 17, wherein, in the third direction, the flaring assemblies are provided on both sides of the feeding channel.
  20. 根据权利要求17所述的包装套筒自动上料系统,其中,所述割刀组件包括割刀,所述割刀朝向所述支撑面的一侧设置有用于与所述物料接触的接触块,且所述接触块与所述割刀的刀刃同向的一端超过所述刀刃以形成探出部,所述探出部的自由端为“V”形结构,所述“V”形结构的尖端与所述割刀的刀刃同向设置。The packaging sleeve automatic feeding system according to claim 17, wherein the cutter assembly includes a cutter, and a contact block for contacting the material is provided on the side of the cutter facing the supporting surface, And the end of the contact block in the same direction as the blade of the cutting knife 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 It is arranged in the same direction as the blade of the cutting knife.
  21. 根据权利要求16所述的包装套筒自动上料系统,其中,所述拆膜装置还包括:The packaging sleeve automatic feeding system according to claim 16, wherein the film removal device further comprises:
    在所述第二方向上分别位于所述上料通道相对的两侧的两个分膜组件,每个所述分膜组件包括用于抓取切割后的外包装膜的抓取组件和用于驱动所述抓取组件沿远离或靠近所述上料通道动作的第七驱动机构,在第一方向上,所述抓取组件位于所述支撑面和限位导向件之间。In the second direction, two film separating assemblies are respectively located on opposite sides of the feeding channel, each of the film separating assemblies includes a grasping assembly for grasping the cut outer packaging film and a The seventh driving mechanism that drives the grabbing assembly to move away from or close to the feeding channel, in the first direction, the grabbing assembly is located between the support surface and the limiting guide.
  22. 根据权利要求21所述的包装套筒自动上料系统,其中,所述抓取组件包括吸盘组件。The packaging sleeve automatic feeding system according to claim 21, wherein the grabbing component includes a suction cup component.
  23. 根据权利要求16所述的包装套筒自动上料系统,其中,每个所述支撑组件包括支撑板、以及用于驱动所述支撑板沿所述第二方向动作的第八驱动机构,所述支撑板的顶面形成所述支撑面。The packaging sleeve automatic feeding system according to claim 16, wherein each of the support assemblies includes a support plate and an eighth drive mechanism for driving the support plate to move along the second direction, the The top surface of the support plate forms the support surface.
  24. 根据权利要求16所述的包装套筒自动上料系统,其中,所述上料通道中在所述第二方向上的两侧分别设置有所述限位压紧件;且所述上料通道中在所述第三方向上的两侧分别设置有所述限位压紧件。The automatic feeding system for packaging sleeves according to claim 16, wherein the position-limiting pressing parts are respectively provided on both sides of the feeding channel in the second direction; and the feeding channel The position-limiting pressing parts are respectively arranged on both sides in the third direction.
  25. 根据权利要求16-24任一项所述的包装套筒自动上料系统,其中,对应于所述拆膜装置设置有:位于所述限位导向件背离所述支撑组件一侧的除尘板、以及安装于所述除尘板背离所述限位导向件一侧的顶部除尘组件,所述除尘板上设置有与所述上料通道相对且连通的开口。The packaging sleeve automatic feeding system according to any one of claims 16-24, wherein, corresponding to the film removal device, there are: a dust removal plate located on the side of the limit guide away from the support assembly, As well as a top dust removal assembly installed on the side of the dust removal plate away from the limiting guide, the dust removal plate is provided with an opening opposite to and communicating with the feeding channel.
  26. 根据权利要求25所述的包装套筒自动上料系统,其中,所述顶部除尘组件包括:吸尘部、以及用于驱动所述吸尘部沿所述开口的一侧边的延伸方向动作的第九驱动机构。The packaging sleeve automatic feeding system according to claim 25, wherein the top dust removal assembly comprises: a dust suction part, and a device for driving the dust suction part to move along the extending direction of one side of the opening. Ninth drive mechanism.
  27. 根据权利要求25所述的包装套筒自动上料系统,其中,所述除尘板还设置有通风槽,所述通风槽连接有底部吸尘组件。The automatic feeding system for packaging sleeves according to claim 25, wherein the dust removal plate is further provided with ventilation slots, and the ventilation slots are connected with bottom dust suction components.
  28. 根据权利要求16-27任一项所述的包装套筒自动上料系统,其中,对应于所述拆膜装置还设置有:The packaging sleeve automatic feeding system according to any one of claims 16-27, wherein, corresponding to the film removal device, there are also:
    翻转组件,所述翻转组件包括翻转支架、可绕自身轴线旋转的安装于所述翻转支架且用于承所述载物料的翻转框体、以及用于驱动所述翻转框体转动的驱动组件,所述翻转框体的转动轴线与所述第一方向垂直;an overturning assembly, the overturning assembly includes an overturning bracket, an overturning frame installed on the overturning bracket that can rotate around its own axis and is used to carry the material, and a drive assembly for driving the overturning frame to rotate, The rotation axis of the overturning frame is perpendicular to the first direction;
    设于所述翻转框体的周侧且用于检测所述物料上的预设标识的摄像组件。The camera component is arranged on the peripheral side of the reversing frame and used for detecting the preset mark on the material.
  29. 根据权利要求28所述的包装套筒自动上料系统,其中,对应于所述拆膜装置还设置有设于所述翻转框体的周侧且用于检测所述物料上识别码的扫码器。The automatic feeding system for packaging sleeves according to claim 28, wherein, corresponding to the film removal device, there is also a scanning code provided on the peripheral side of the turning frame and used to detect the identification code on the material device.
  30. 根据权利要求16-29任一项所述的包装套筒自动上料系统,其中,对应于所述拆膜装置还设置有收集拆除的所述外包装膜的收集箱。The packaging sleeve automatic feeding system according to any one of claims 16-29, wherein a collection box for collecting the removed outer packaging film is also provided corresponding to the film removal device.
  31. 根据权利要求1-15任一项所述的包装套筒自动上料系统,其中所述拆膜装置包括:The packaging sleeve automatic feeding system according to any one of claims 1-15, wherein the film removal device comprises:
    沿第一方向延伸的进料通道,所述进料通道具有进料口,所述进料通道具有第一切割工位和位于所述进料口的第二切割工位;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 second cutting station located at the feed port;
    开膜机构,所述开膜机构包括:位于所述第一切割工位的两个第一切割组件,所述两个第一切割组件沿第二方向相对设置,所述第一方向与所述第二方向垂直;A film opening mechanism, the film opening mechanism includes: two first cutting assemblies located at the first cutting station, the two first cutting assemblies are arranged opposite to each other along a second direction, the first direction and the the second direction is vertical;
    与两个所述第一切割组件对应设置的两个第一驱动组件,在每一对相互对应的第一驱动组件和第一切割组件中,第一驱动组件驱动第一切割组件沿第一路径运动,第一驱动组件驱动第一切割组件沿第二路径运动,所述第一路径与所述第二路径包括重合部分,所述重合部分与所述第一方向平行;所述第一路径还包括与重合部分连接的第一部分,所述第二路径还包括与重合部分连接的第二部分,所述第一部分与所述第二部分所成角度中,开口朝向所述进料口方向的夹角小于180°;Two first driving assemblies corresponding to the two first cutting assemblies, in each pair of first driving assemblies and first cutting assemblies corresponding to each other, the first driving assemblies drive the first cutting assemblies along the first path movement, the first driving assembly drives the first cutting assembly to move along a second path, the first path and the second path include overlapping portions, and the overlapping portions are parallel to the first direction; the first path also 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 clip in the direction of the feed inlet The angle is less than 180°;
    所述开膜机构还包括:位于所述第二切割工位的第二切割组件,用于驱动所述第二切割组件沿第二方向运动的第二驱动组件;其中,所述第二切割组件包括割刀部和吸附部,所述吸附部用于将所述外包装膜吸附以将所述物料与所述外包装膜存在缝隙,所述第二驱动组件驱动所述割刀部沿所述第二 方向运动,其中所述物料被所述外包装膜包裹的所述成组的包装套筒。The film opening mechanism also includes: a second cutting assembly located at the second cutting station, a second driving assembly for driving the second cutting assembly to move along the second direction; wherein, the second cutting assembly It includes a cutter 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 along the moving in the second direction, wherein the group of packaging sleeves in which the material is wrapped by the outer packaging film.
  32. 根据权利要求31所述的包装套筒自动上料系统,其中,所述开膜机构还包括:位于所述第二切割工位的吸盘组件,所述吸盘组件用于将所述外包装膜吸附以将所述物料与所述外包装膜存在缝隙。The packaging sleeve automatic feeding system according to claim 31, wherein the film opening mechanism further comprises: a suction cup assembly located at the second cutting station, and the suction cup assembly is used to absorb the outer packaging film There is a gap between the material and the outer packaging film.
  33. 根据权利要求31所述的包装套筒自动上料系统,其中,The packaging sleeve automatic feeding system according to claim 31, wherein,
    所述第一驱动组件包括:伸缩部、割膜轨道、切换板和沿第三方向延伸的切换轨道,所述第三方向与所述第一方向垂直,所述第三方向与所述第二方向垂直,所述切换板沿所述第二方向运动以使所述割膜轨道在所述第一路径和所述第二路径之间切换;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 third direction is perpendicular to the second direction. The direction is vertical, and the switching plate moves along the second direction to switch the cut film track between the first path and the second path;
    所述第一切割组件沿所述第一路径或所述第二路径方向运动,所述第一切割组件包括:分隔部和与所述分隔部连接的刀座;The first cutting assembly moves along the first path or the direction of the second path, and the first cutting assembly includes: a partition and a knife seat connected to the partition;
    其中,所述伸缩部的固定端沿所述切换轨道的延伸方向运动,所述伸缩部的自由端与所述分隔部连接。Wherein, the fixed end of the telescopic part moves along the extension direction of the switching track, and the free end of the telescopic part is connected with the partition part.
  34. 根据权利要求33所述的包装套筒自动上料系统,其中,所述分隔部包括吸膜座,所述吸膜座用于将物料的外包装膜吸附。The automatic feeding system for packaging sleeves according to claim 33, wherein the partition includes a film-absorbing seat, and the film-absorbing seat is used to absorb the outer packaging film of the material.
  35. 根据权利要求33所述的包装套筒自动上料系统,其中,所述分隔部包括吹膜座,所述吹膜座用于将物料的外包装膜吹起。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.
  36. 根据权利要求33所述的包装套筒自动上料系统,其中,所述伸缩部包括气缸。The packaging sleeve automatic feeding system according to claim 33, wherein the telescoping part comprises an air cylinder.
  37. 根据权利要求33所述的包装套筒自动上料系统,其中,所述拆膜装置还包括:进料机构和驱动所述进料机构沿所述第一方向动作的第三驱动组件;The automatic feeding system for packaging sleeves according to claim 33, wherein the film removal device further comprises: a feeding mechanism and a third drive assembly that drives the feeding mechanism to move along the first direction;
    所述进料机构包括位于所述进料通道内的第一容纳仓,所述第一容纳仓具有与所述进料口对应的第一开口,所述第一容纳仓用于承载所述物料。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 .
  38. 根据权利要求37所述的包装套筒自动上料系统,其中,所述进料机构还包括第一翻转组件,所述第一翻转组件与所述第一容纳仓传动连接,所述第一容纳仓翻转以使所述第一开口的朝向在所述第一方向和所述第三方向之间切换。The automatic feeding system for packaging sleeves according to claim 37, wherein the feeding mechanism further includes a first overturning assembly, and the first overturning assembly is in transmission connection with the first storage bin, and the first storage bin The cartridge is flipped to switch the orientation of the first opening between the first orientation and the third orientation.
  39. 根据权利要求38所述的包装套筒自动上料系统,其中,所述进料机构还包括:沿所述第三方向相对设置的两个吸膜组件和第四驱动组件,所述 吸膜组件用于抓取切割后的外包装膜,所述第四驱动组件用于驱动所述吸膜组件靠近或远离所述进料通道。The automatic feeding system for packaging sleeves according to claim 38, wherein the feeding mechanism further comprises: two suction film assemblies and a fourth drive assembly oppositely arranged along the third direction, the suction film assembly Used to grab the cut outer packaging film, the fourth drive assembly is used to drive the suction film assembly to approach or move away from the feeding channel.
  40. 根据权利要求39所述的包装套筒自动上料系统,其中,所述吸膜组件包括吸盘。The packaging sleeve automatic feeding system according to claim 39, wherein the suction film assembly comprises a suction cup.
  41. 根据权利要求37所述的包装套筒自动上料系统,其中,所述拆膜装置还包括:The packaging sleeve automatic feeding system according to claim 37, wherein the film removal device further comprises:
    沿所述第三方向延伸的输送通道,且所述输送通道与所述进料通道连通;a delivery channel extending along the third direction, and the delivery channel communicates with the feed channel;
    与所述进料通道平行的出料通道,且所述进料通道与所述输送通道连通,所述出料通道具有出料口。A discharge channel parallel to the feed channel, and the feed channel communicates with the conveying channel, and the discharge channel has a discharge port.
  42. 根据权利要求41所述的包装套筒自动上料系统,其中,所述拆膜装置还包括位于所述输送通道的推送机构,所述推送机构包括推送组件和第五驱动组件;The automatic feeding system for packaging sleeves 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 component and a fifth driving component;
    所述第一容纳仓具有与所述第一开口相对的贯穿槽,所述推送组件的推送侧与所述贯穿槽匹配,所述推送组件的固定端与所述第五驱动组件连接;The first storage bin has a through groove opposite to the first opening, the push side of the push assembly matches the through groove, and the fixed end of the push assembly is connected to the fifth drive assembly;
    所述第五驱动组件驱动所述推送组件沿所述第三方向运动,所述推送组件的推送侧从所述贯穿槽伸入或退出所述第一容纳仓,以将位于所述第一容纳仓内的拆除外包装膜的物料推至所述出料通道处。The fifth driving assembly drives the pushing assembly to move along the third direction, and the pushing side of the pushing assembly extends into or out of the first storage bin from the through slot, so as to place the The material in the bin from which the outer packaging film has been removed is pushed to the discharge channel.
  43. 根据权利要求42所述的包装套筒自动上料系统,其中,所述推送组件包括推送板和限位杆,所述推送板远离所述推送侧的一侧为安装侧,所述第五驱动组件与所述安装侧连接,所述限位杆沿所述第五驱动组件的运动方向设置,且与所述安装侧连接。The packaging sleeve automatic feeding system according to claim 42, wherein the pushing assembly 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 The assembly is connected to the installation side, and the limit rod is arranged along the movement direction of the fifth driving assembly and is connected to the installation side.
  44. 根据权利要求43所述的包装套筒自动上料系统,其中,所述拆膜装置还包括出料机构和驱动所述出料机构沿所述第一方向动作的第六驱动组件;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;
    所述出料机构包括位于所述出料通道内的第二容纳仓,所述第二容纳仓具有与所述出料口对应的第二开口,所述第二容纳仓用于承载拆除外包装膜的物料。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 and remove the outer packaging film material.
  45. 根据权利要求44所述的包装套筒自动上料系统,其中,所述出料机构还包括第二翻转组件,所述第二翻转组件与所述第二容纳仓传动连接,所述第二容纳仓翻转以使所述第二开口的朝向在所述第一方向和所述第三方向 之间切换。The packaging sleeve automatic feeding system according to claim 44, wherein, the discharge mechanism further includes a second overturning assembly, the second overturning assembly is in transmission connection with the second storage bin, and the second storage bin The cartridge is flipped to switch the orientation of the second opening between the first orientation and the third orientation.
  46. 根据权利要求45所述的包装套筒自动上料系统,其中,还包括除尘机构,所述除尘机构位于在所述出料通道,对拆除外包装膜的物料进行除尘。The packaging sleeve automatic feeding system according to claim 45, further comprising a dust removal mechanism, the dust removal mechanism is located in the discharge channel to remove dust from the material whose outer packaging film is removed.
  47. 根据权利要求31-46任一项所述的包装套筒自动上料系统,还包括:用于收集拆除的外包装膜的膜包收集装置。The packaging sleeve automatic feeding system according to any one of claims 31-46, further comprising: a film packet collecting device for collecting the removed outer packaging film.
  48. 根据权利要求47所述的包装套筒自动上料系统,其中,所述膜包收集装置包括:接料仓、出料组件和第七驱动组件;The packaging sleeve automatic feeding system according to claim 47, wherein the film bag collecting device comprises: a receiving bin, a discharging assembly and a seventh driving assembly;
    所述接料仓具有连通的收集口和放料口,所述出料组件设置在所述接料仓内,所述第七驱动组件与所述出料组件传动连接,将外包装膜从所述收集口传送至所述放料口。The receiving bin has a connected collecting port and a discharging port, the discharging assembly is arranged in the receiving bin, the seventh drive assembly is connected with the discharging assembly, and the outer packaging film is pulled from the The collection port is transferred to the discharge port.
  49. 根据权利要求48所述的包装套筒自动上料系统,其中,所述出料组件包括第一出料螺杆,所述第一出料螺杆与所述第七驱动组件传动连接。The packaging sleeve automatic feeding system according to claim 48, wherein the discharge assembly includes a first discharge screw, and the first discharge screw is in transmission connection with the seventh drive assembly.
  50. 根据权利要求49所述的包装套筒自动上料系统,其中,所述出料组件还包括与所述第一出料螺杆啮合的第二出料螺杆。The packaging sleeve automatic feeding system according to claim 49, wherein the discharging assembly further comprises a second discharging screw engaged with the first discharging screw.
  51. 根据权利要求31-50任一项所述的包装套筒自动上料系统,还包括:隔纸回收装置。The packaging sleeve automatic feeding system according to any one of claims 31-50, further comprising: a separator recycling device.
  52. 根据权利要求51所述的包装套筒自动上料系统,其中,所述隔纸回收装置包括用于放置隔纸的放置平台、推送机构和箱体;The packaging sleeve automatic feeding system according to claim 51, wherein the spacer recovery device includes a placement platform for placing spacers, a pushing mechanism and a box;
    所述推送机构用于推送放置在所述放置平台的隔纸掉落至所述箱体内。The pushing mechanism is used to push the spacer placed on the placement platform to drop into the box.
  53. 根据权利要求51所述的包装套筒自动上料系统,其中,所述隔纸回收装置包括机架、容纳箱和放置杆;The packaging sleeve automatic feeding system according to claim 51, wherein the spacer recovery device includes a frame, a storage box and a placement rod;
    所述容纳箱可转动的安装在所述机架上,用于放置隔纸的所述放置杆设置在所述容纳箱内。The storage box is rotatably installed on the frame, and the placement rod for placing spacers is arranged in the storage box.
  54. 一种包装套筒的自动上料方法,其用于向包装套筒料轨提供成组的包装套筒,所述包装套筒料轨在进给方向上延伸,所述成组的包装套筒包括堆叠在一起的多个包装套筒,且所述成组的包装套筒以所述多个包装套筒的堆叠方向与所述进给方向平行的状态被提供到所述包装套筒料轨中,所述方法包括:An automatic feeding method for packaging sleeves, which is used to provide groups of packaging sleeves to a packaging sleeve material rail, the packaging sleeve material rail extends in the feeding direction, and the grouped packaging sleeves including a plurality of packaging sleeves stacked together, and the set of packaging sleeves is provided to the packaging sleeve rail in a state where the stacking direction of the plurality of packaging sleeves is parallel to the feeding direction , the method includes:
    利用机械手从所述进料工位拿取所述成组的包装套筒到所述处理工位,所述进料工位用于堆放堆叠在一起的多个所述成组的包装套筒,每个所述成 组的包装套筒被外包装膜包裹,所述处理工位包括拆膜装置;taking said group of packaging sleeves from said feeding station to said processing station by means of a manipulator, said feeding station being used to stack a plurality of said groups of packaging sleeves stacked together, Each of the grouped packaging sleeves is wrapped by an outer packaging film, and the processing station includes a film removal device;
    利用所述拆膜装置将所述外包装膜从所述成组的包装套筒移除;以及removing the outer packaging film from the set of packaging sleeves using the film tearing device; and
    利用所述机械手将移除了所述外包装膜之后的所述成组的包装套筒从所述处理工位提供到所述包装套筒料轨中。The set of packaging sleeves after removal of the outer packaging film is provided from the processing station into the packaging sleeve rail by means of the manipulator.
  55. 根据权利要求54所述的自动上料方法,还包括:The automatic feeding method according to claim 54, further comprising:
    响应于指示补料的用户命令,使所述进料工位的防护挡板移动到关闭位置,在所述防护挡板处于所述关闭位置时,利用所述机械手从用于堆放被所述外包装膜包裹的所述成组的包装套筒的缓存工位拿取所述成组的包装套筒到所述处理工位;以及In response to a user command indicating replenishment, the protective baffle of the feeding station is moved to a closed position, and when the protective baffle is in the closed position, the manipulator is used to stack the a buffering station of said set of packaging sleeves wrapped in wrapping film takes said set of packaging sleeves to said processing station; and
    响应于指示完成补料的用户命令,使所述进料工位的所述防护挡板移动到打开位置,在所述防护挡板处于所述打开位置时,利用所述机械手从所述进料工位拿取所述成组的包装套筒到所述处理工位。Responding to a user command indicating completion of refilling, moving the protective barrier of the feeding station to an open position, and when the protective barrier is in the open position, using the manipulator to remove the material from the feeding A station takes the set of packaging sleeves to the processing station.
  56. 根据权利要求55所述的自动上料方法,还包括:The automatic feeding method according to claim 55, further comprising:
    利用进料进度传感器感测所述包装套筒料轨中的包装套筒的数量;sensing the number of packaging sleeves in the packaging sleeve rail with a feed progress sensor;
    利用缓存数量传感器感测所述缓存工位中的被所述外包装膜包裹的所述成组的包装套筒的数量;以及sensing the quantity of the set of packaging sleeves wrapped by the outer packaging film in the buffer station with a buffer quantity sensor; and
    当所述包装套筒料轨中的包装套筒的数量满足第一预定条件并且所述缓存工位中的被所述外包装膜包裹的所述成组的包装套筒的数量满足第二预定条件时,利用所述机械手从所述进料工位拿取所述成组的包装套筒到所述缓存工位。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 When conditions are met, use the manipulator to take the grouped packaging sleeves from the feeding station to the buffering station.
  57. 根据权利要求55或56所述的自动上料方法,其中,The automatic feeding method according to claim 55 or 56, wherein,
    所述机械手包括第一末端执行器和第二末端执行器,The manipulator includes a first end effector and a second end effector,
    利用所述第一末端执行器将移除了所述外包装膜后的所述成组的包装套筒从所述处理工位提供到所述包装套筒料轨,providing the set of packaging sleeves with the outer packaging film removed from the processing station to the packaging sleeve rail using the first end effector,
    利用所述第二末端执行器从所述进料工位拿取所述成组的包装套筒到所述处理工位,taking said set of packaging sleeves from said infeed station to said processing station using said second end effector,
    所述方法还包括:The method also includes:
    在所述第一末端执行器和所述第二末端执行器之间进行切换。Switching between the first end effector and the second end effector is performed.
  58. 根据权利要求55或56所述的自动上料方法,其中,The automatic feeding method according to claim 55 or 56, wherein,
    所述处理工位还包括定位装置和翻转装置,The processing station also includes a positioning device and a turning device,
    所述方法还包括:The method also includes:
    利用所述定位装置感测所述成组的包装套筒的取向,并且当感测到所述成组的包装套筒的取向不正确时,利用所述翻转装置使所述成组的包装套筒翻转以正确定位,Using the positioning device to sense the orientation of the set of packaging sleeves, and when sensing that the orientation of the set of packaging sleeves is incorrect, using the turning device to make the set of packaging sleeves The barrel is turned over for proper positioning,
    当所述成组的包装套筒正确定位后,利用所述拆膜装置将所述外包装膜从所述成组的包装套筒移除。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.
  59. 根据权利要求58所述的自动上料方法,还包括The automatic feeding method according to claim 58, further comprising
    利用所述机械手将在所述处理工位处无法正确定位的包装套筒装置移动到不良品回收工位;Using the manipulator to move the packaging sleeve device that cannot be correctly positioned at the processing station to the defective product recovery station;
    利用所述机械手将移除的所述外包装膜移动到膜收集工位;以及using the manipulator to move the removed overwrap film to a film collection station; and
    利用所述机械手将隔纸移动到隔纸回收工位,Use the manipulator to move the separator paper to the separator paper recovery station,
    所述成组的包装套筒在所述进料工位处堆叠成多个层,每个层包括阵列布置的多个成组的包装套筒,并且每个层由所述隔纸隔开。The groups of packaging sleeves are stacked at the feeding station into a plurality of layers, each layer comprising a plurality of groups of packaging sleeves arranged in an array, and each layer is separated by the spacer.
PCT/CN2022/132502 2021-11-19 2022-11-17 Automatic feeding system for packaging sleeves and automatic feeding method for packaging sleeves WO2023088353A1 (en)

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Application Number Priority Date Filing Date Title
CN202111399363.3A CN116142517A (en) 2021-11-19 2021-11-19 Automatic packaging sleeve feeding system and automatic packaging sleeve feeding method
CN202122876449.2U CN217673306U (en) 2021-11-19 2021-11-19 Automatic feeding system for packaging sleeves
CN202111399363.3 2021-11-19
CN202122876449.2 2021-11-19
CN202220866419.5U CN217171249U (en) 2022-04-14 2022-04-14 Unpacking device and filling production line
CN202220866419.5 2022-04-14
CN202222429180.8 2022-09-14
CN202222429180.8U CN218317758U (en) 2022-09-14 2022-09-14 Unpacking device and filling production system
CN202211115126.4 2022-09-14
CN202211115126.4A CN117735051A (en) 2022-09-14 2022-09-14 Unpacking device and canning production system

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CN117048933B (en) * 2023-10-11 2024-01-05 江苏尚纯自动化技术有限公司 Packaging equipment capable of automatically changing products and automatic product changing method

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