WO2023088353A1

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

Info

Publication number: WO2023088353A1
Application number: PCT/CN2022/132502
Authority: WO
Inventors: 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: 2021-11-19
Filing date: 2022-11-17
Publication date: 2023-05-25
Also published as: TW202327938A

Abstract

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

Description

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

Cross References to Related Applications

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.

technical field

Embodiments of the present disclosure relate to an automatic feeding system for packaging sleeves and an automatic feeding method for packaging sleeves.

Background technique

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.

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.

Contents of the invention

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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.

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.

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.

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.

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.

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.

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.

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.

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

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.

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.

For example, in some embodiments, the gripper assembly includes a suction cup assembly.

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.

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

For example, in some embodiments, corresponding to the film removal device, there are 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.

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.

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.

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.

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.

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

For example, in some embodiments, the film removal device includes: a feed channel extending along a first direction, the feed channel has a feed port, the feed channel has a first cutting station and 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.

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.

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.

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

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

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

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

For example, in some embodiments, the feeding mechanism further includes a first overturning 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.

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.

For example, in some embodiments, the suction membrane assembly includes a suction cup.

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

For example, in some embodiments, the film removal device of the packaging sleeve automatic feeding system further includes: a pushing mechanism located in the conveying channel, the pushing mechanism includes a pushing 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.

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.

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

For example, in some embodiments, the discharge mechanism further includes a second overturning 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.

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

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

For example, in some embodiments, the film 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.

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.

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

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

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

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

At least one embodiment of the present disclosure provides an automatic feeding method for packaging sleeves, which is used to provide 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.

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.

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.

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.

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.

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.

Description of drawings

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.

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; and

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;

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.

Detailed ways

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.

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.

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.

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.

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.

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.

In addition, 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.

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.

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

Additionally, the manipulator of the system includes a first end effector 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.

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.

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.

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 .

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.

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 .

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.

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).

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.

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 .

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.

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

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

The film collection station 500 is used to collect the outer packaging film removed from the grouped packaging sleeves 920, 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.

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 .

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.

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 .

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 .

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.

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.

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.

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 .

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.

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.

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.

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.

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

Fig. 6 shows a schematic top view of an automatic feeding system for packaging sleeves according to another embodiment of the present disclosure. For each component in 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.

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.

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.

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;

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.

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 .

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.

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.

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.

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:

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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 .

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.

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 .

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.

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;

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;

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.

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.

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.

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.

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 .

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;

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;

Wherein, the fixed end of the telescopic part b221 moves along the extending direction of the switching track b224 , and the free end of the telescopic part b221 is connected to the b partition part 211 .

The action process of the first drive assembly b22 is described as follows: 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.

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.

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.

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;

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.

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.

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°.

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.

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.

Continuing to refer to Fig. 11, for example, the film removal device also includes:

a delivery channel b5 extending along the third direction, and the delivery channel b5 communicates with the feed channel b1;

The discharge channel b6 is parallel to the feed channel b1, and the feed channel b1 communicates with the delivery channel b5, and the discharge channel b6 has a discharge port b61.

Since the outer packaging film of the above materials and the grouped packaging sleeves have been separated, and the grouped packaging sleeves located in the first storage bin b31 are turned over 90° by the third drive assembly b4, the grouped packaging sleeves after turning over The packaging sleeve is pushed to the second storage bin b81 by the pushing mechanism b7 located in the 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.

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. Push to the discharge channel b6, that is, push the grouped packaging sleeves to the discharge channel b6.

As shown in Figure 20, of course, in order to ensure that the 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.

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

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

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

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

Of course, before the second storage bin b81 is raised to the discharge port b61, it is turned over by the second 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.

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.

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.

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.

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

For example, as shown in 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 .

For example, 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.

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.

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.

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

As shown in 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 .

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;

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.

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;

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, 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.

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

Claims

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:

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;

a processing station comprising a film stripping device for removing said outer packaging film from said group of packaging sleeves;

manipulator; and

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.
The packaging sleeve automatic feeding system according to claim 1, further comprising:

a buffer station for stacking said groups of packaging sleeves wrapped by said outer packaging film,

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,

The controller configuration is:

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

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.
The packaging sleeve automatic feeding system according to claim 2, wherein,

The feed station also includes a feed safety door through which refilling takes place from outside the system,

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.
The packaging sleeve automatic feeding system according to claim 2 or 3, wherein,

The buffer station and the feeding station are arranged side by side in a transverse direction perpendicular to the feeding direction, and are arranged opposite to the packaging sleeve material rail in a direction parallel to the feeding direction,

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

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.
The packaging sleeve automatic feeding system according to any one of claims 2-4, wherein,

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.
The packaging sleeve automatic feeding system according to any one of claims 2-5, further comprising:

a feed progress sensor configured to sense the number of packaging sleeves in the packaging sleeve rail; and

a buffer quantity sensor configured to sense the quantity of the grouped packaging sleeves wrapped by the outer packaging film in the buffer station,

The controller configuration is:

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.
The packaging sleeve automatic feeding system according to claim 6, wherein

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,

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.
The packaging sleeve automatic feeding system according to any one of claims 1-7, wherein,

The manipulator includes a first end effector configured to use the first end effector to provide the set of packaging sleeves from the processing station to the the packing sleeve rail,

The first end effector includes:

a first base and a pair of jaws, a pusher and a puller mounted to the first base,

the pair of jaws extend in a first direction relative to the first base and are configured to move in a second direction perpendicular to the first direction between a gripping position and a release position,

The pushing member has a pushing surface perpendicular to the first direction,

The puller is configured to be attachable to the set of packaging sleeves and to be movable in the first direction.
The packaging sleeve automatic feeding system according to claim 8, wherein,

The controller configuration is:

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;

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;

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

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,

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.
The packaging sleeve automatic feeding system according to claim 8 or 9, wherein,

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.
The packaging sleeve automatic feeding system according to any one of claims 1-10, wherein,

The processing station also includes:

The dust removal device is configured to remove dust from the set of packaging sleeves after the outer packaging film is removed.
The packaging sleeve automatic feeding system according to any one of claims 2-11, wherein,

The processing station also includes:

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.
The packaging sleeve automatic feeding system according to claim 12, further comprising:

a film collection station that collects said overwrap film removed from said set of packaging sleeves;

a reject recovery station that collects said groups of packaging sleeves that could not be properly positioned; and

Separator recycling station, which collects separators,

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.
The packaging sleeve automatic feeding system according to claim 13, wherein,

The controller configuration is:

controlling the manipulator to take the removed outer packaging film from the film removal device to the film collection station,

Controlling the manipulator to take the grouped packaging sleeves that cannot be correctly positioned from the turning device to the defective product recovery station, and

Controlling the manipulator to take the separator from the feeding station to the separator recycling station.
The packaging sleeve automatic feeding system according to claim 13 or 14, wherein,

The buffer station and the feeding station are arranged side by side in a transverse direction perpendicular to the feeding direction, and are arranged opposite to the packaging sleeve material rail in a direction parallel to the feeding direction,

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

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,

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,

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,

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.
The packaging sleeve automatic feeding system according to any one of claims 1-15, wherein the film removal device comprises:

A feeding channel extending along the first direction, with a cutting station inside the feeding channel;

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;

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;

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;

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 .
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.
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.
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.
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.
The packaging sleeve automatic feeding system according to claim 16, wherein the film removal device further comprises:

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.
The packaging sleeve automatic feeding system according to claim 21, wherein the grabbing component includes a suction cup component.
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.
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.
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.
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.
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.
The packaging sleeve automatic feeding system according to any one of claims 16-27, wherein, corresponding to the film removal device, there are also:

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;

The camera component is arranged on the peripheral side of the reversing frame and used for detecting the preset mark on the material.
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.
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.
The packaging sleeve automatic feeding system according to any one of claims 1-15, wherein the film removal device comprises:

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;

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;

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°;

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.
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.
The packaging sleeve automatic feeding system according to claim 31, wherein,

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;

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;

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.
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.
The packaging sleeve automatic feeding system according to claim 33, wherein the partition includes a film blowing seat, and the film blowing seat is used to blow up the outer packaging film of the material.
The packaging sleeve automatic feeding system according to claim 33, wherein the telescoping part comprises an air cylinder.
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;

The feeding mechanism includes a first storage bin located in the feeding channel, the first storage bin has a first opening corresponding to the feeding port, and the first storage bin is used to carry the material .
The 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.
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.
The packaging sleeve automatic feeding system according to claim 39, wherein the suction film assembly comprises a suction cup.
The packaging sleeve automatic feeding system according to claim 37, wherein the film removal device further comprises:

a delivery channel extending along the third direction, and the delivery channel communicates with the feed channel;

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.
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;

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;

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.
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.
The packaging sleeve automatic feeding system according to claim 43, wherein the film removal device further includes a discharge mechanism and a sixth drive assembly that drives the discharge mechanism to move along the first direction;

The discharge mechanism includes a second storage bin located in the discharge channel, the second storage bin has a second opening corresponding to the discharge port, and the second storage bin is used to carry and remove the outer packaging film material.
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.
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.
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.
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;

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.
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.
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.
The packaging sleeve automatic feeding system according to any one of claims 31-50, further comprising: a separator recycling device.
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;

The pushing mechanism is used to push the spacer placed on the placement platform to drop into the box.
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;

The storage box is rotatably installed on the frame, and the placement rod for placing spacers is arranged in the storage box.
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:

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;

removing the outer packaging film from the set of packaging sleeves using the film tearing device; and

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.
The automatic feeding method according to claim 54, further comprising:

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

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.
The automatic feeding method according to claim 55, further comprising:

sensing the number of packaging sleeves in the packaging sleeve rail with a feed progress sensor;

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

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.
The automatic feeding method according to claim 55 or 56, wherein,

The manipulator includes a first end effector and a second end effector,

providing the set of packaging sleeves with the outer packaging film removed from the processing station to the packaging sleeve rail using the first end effector,

taking said set of packaging sleeves from said infeed station to said processing station using said second end effector,

The method also includes:

Switching between the first end effector and the second end effector is performed.
The automatic feeding method according to claim 55 or 56, wherein,

The processing station also includes a positioning device and a turning device,

The method also includes:

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,

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.
The automatic feeding method according to claim 58, further comprising

Using the manipulator to move the packaging sleeve device that cannot be correctly positioned at the processing station to the defective product recovery station;

using the manipulator to move the removed overwrap film to a film collection station; and

Use the manipulator to move the separator paper to the separator paper recovery 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 the spacer.