A transporting device

Abstract

The present invention relates to the technical field of automated equipment, and discloses a transfer and conveying device. The transfer and conveying device is used to transfer a stack formed by stacking multiple paper sheets up and down. The transfer and conveying device includes a first lifting mechanism, a high-altitude horizontal conveying mechanism, and a second lifting mechanism. The high-altitude horizontal conveying mechanism extends along the Y direction, and its two ends are respectively docked with the upper end of the first lifting mechanism and the upper end of the second lifting mechanism. The first lifting mechanism can lift the stack along the Z direction, the high-altitude horizontal conveying mechanism can obtain the stack on the first lifting mechanism and convey the stack to the second lifting mechanism, and the second lifting mechanism can drive the stack to descend along the Z direction and place it in the packaging machine. The transfer and conveying device of the present invention makes rational use of the space at high altitudes. On the premise of ensuring that the stack reaches the packaging machine smoothly, it reduces the floor space of the transfer and conveying device, which is beneficial to the layout of the factory.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a transfer and conveying device. Background Art

[0002] The cigarette packing machine can wrap the wrapping paper around the cigarette bundle to form a cigarette box. Usually, Figure 1 As shown, the wrapping paper is generally in the form of a long strip. To facilitate transportation and use, multiple sheets of wrapping paper are stacked into a pile (hereinafter referred to as the stack). A piece of kraft paper (hereinafter referred to as the binding member) is then wrapped around the middle of the stack along its length to bind the multiple sheets of wrapping paper into a whole (hereinafter referred to as the material). The ends of the wrapping paper along its length are exposed for easy identification. When loading the material into the cigarette case packaging machine, the binding member must first be removed (hereinafter referred to as unpacking) before the stack is transported to the cigarette case packaging machine.

[0003] According to actual needs, the path for conveying the stacked body to the cigarette box packaging machine may be relatively tortuous, resulting in the entire transfer and conveying device occupying a larger area of the factory, which is not conducive to the layout of the entire factory.

[0004] Therefore, there is an urgent need for a transfer and conveying device to solve the above technical problems. Summary of the Invention

[0005] The purpose of the present invention is to propose a transfer and conveying device that rationally utilizes the space at high altitudes. Under the premise of ensuring that the stacked body reaches the packaging machine smoothly, the transfer and conveying device reduces the floor space, which is beneficial to the layout of the factory.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] A transfer conveyor device for transferring a stack of paper sheets stacked one above the other, the transfer conveyor device comprising a first lifting mechanism, an overhead horizontal conveyor mechanism, and a second lifting mechanism. The overhead horizontal conveyor mechanism extends along the Y direction, with its two ends respectively docked with the upper ends of the first lifting mechanism and the second lifting mechanism.

[0008] The first lifting mechanism can lift the stacking body along the Z direction, the high-altitude horizontal conveying mechanism can obtain the stacking body on the first lifting mechanism and convey the stacking body to the second lifting mechanism, and the second lifting mechanism can drive the stacking body to descend along the Z direction and place it in the packaging machine.

[0009] As an optional solution, the high-altitude horizontal conveying mechanism includes:

[0010] The slide assembly extends along the Y direction;

[0011] A push drive assembly and a push rod assembly, wherein the push drive assembly can drive the push rod assembly to move along the Y direction, so that the push rod assembly can sequentially push the stacked body from the first lifting mechanism to the slide assembly, push the stacked body to move along the slide assembly, and push the stacked body on the slide assembly to the second lifting mechanism.

[0012] As an optional solution, the slide assembly includes a slide body, the upper surface of which is provided with a first slot extending along the Y direction, the first end of the push rod assembly is connected to the output end of the push drive assembly, and the second end can be inserted into the first slot.

[0013] As an optional solution, the upper surface of the slide body is configured to be wavy along its width direction.

[0014] As an optional solution, the first lifting mechanism includes a first lifting drive assembly and a carrying plate, the carrying plate is used to support the stacked body, and the first lifting drive assembly can drive the carrying plate to move along the Z direction and dock with the slide body;

[0015] The carrier plate is provided with a second slot extending along the Y direction, the second slot can be collinear with the first slot, and the second end of the push rod assembly can be inserted into the second slot.

[0016] As an optional solution, the slideway assembly further includes:

[0017] baffles, arranged on both sides of the slide body along the Y direction, the baffles being used to limit the stack; and / or

[0018] A shield is provided on the slide body and can be selectively opened.

[0019] As an optional solution, the second lifting mechanism includes a second lifting drive assembly and a carrying jig, wherein the second lifting drive assembly can drive the carrying jig to move along the Z direction, and the carrying jig can support the stacked body, correct the position of the stacked body, and automatically unload the stacked body.

[0020] As an optional solution, the transport fixture includes:

[0021] a frame body connected to the output end of the second lifting drive assembly;

[0022] A tray connected to the frame body, the tray being used to support the stacked body;

[0023] A clamping plate assembly is connected to the frame body, and the clamping plate assembly can clamp the stacked body along the X direction.

[0024] As an optional solution, the transport jig also includes a unloading drive assembly, which is arranged on the frame body and the output end is connected to the pallet. The unloading drive assembly can drive the pallet to move along the Y direction relative to the frame body so that the frame body pushes down the stacked body on the pallet.

[0025] As an optional solution, the tray is provided with a tooth groove extending along the Y direction, and the frame body is provided with a tooth on the side facing the upper surface of the tray, and the tooth is inserted into the tooth groove and can slide relative to the tooth groove.

[0026] The beneficial effects of the present invention are:

[0027] The transfer conveyor device of the present invention uses a first lifting mechanism to transport the stacked objects to a docking station with a high-altitude horizontal conveyor mechanism. The high-altitude horizontal conveyor mechanism then transports the stacked objects to a second lifting mechanism, which ultimately transports the stacked objects downward from the high altitude to the packaging machine. The transfer conveyor device of the present invention rationally utilizes the space at high altitude, reducing the footprint of the transfer conveyor device while ensuring that the stacked objects can reach the packaging machine smoothly, thus facilitating factory layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural diagram of the material;

[0029] Figure 2 It is a structural schematic diagram of a feeding system and a packaging machine provided by a specific embodiment of the present invention from one perspective;

[0030] Figure 3 This is a structural diagram of the feeding system and packaging machine provided by the specific embodiment of the present invention from another perspective

[0031] Figure 4 It is a structural schematic diagram of the unpacking conveying device and the stacking area provided in a specific embodiment of the present invention;

[0032] Figure 5 It is a schematic diagram of the internal structure of the unpacking and conveying device provided in a specific embodiment of the present invention;

[0033] Figure 6 is a schematic diagram of a support plate provided in a specific embodiment of the present invention located at a cutting station;

[0034] Figure 7 is a schematic diagram of a support plate provided by a specific embodiment of the present invention when located at a recycling station from one viewing angle;

[0035] Figure 8 It is a structural schematic diagram of the lifting mechanism, supporting block and guide rod provided in a specific embodiment of the present invention;

[0036] Figure 9 is a schematic diagram of a support plate provided by a specific embodiment of the present invention located at a recycling station from another perspective;

[0037] Figure 10 It is a structural schematic diagram of a transfer and conveying device provided in a specific embodiment of the present invention;

[0038] Figure 11 It is a structural schematic diagram of a first lifting mechanism and a high-altitude horizontal conveying mechanism provided in a specific embodiment of the present invention;

[0039] Figure 12 It is a structural schematic diagram of the high-altitude horizontal conveying mechanism provided by a specific embodiment of the present invention when conveying a stacked object;

[0040] Figure 13 It is a partial structural diagram of a high-altitude horizontal conveying mechanism provided in a specific embodiment of the present invention;

[0041] Figure 14 It is a structural schematic diagram of the high-altitude horizontal conveying mechanism and the second lifting mechanism provided by a specific embodiment of the present invention;

[0042] Figure 15 is a structural schematic diagram of a second lifting mechanism provided in a specific embodiment of the present invention;

[0043] Figure 16 It is a structural schematic diagram of a transport jig provided in a specific embodiment of the present invention;

[0044] Figure 17 It is a structural schematic diagram of a transport jig supporting a stacked body provided by a specific embodiment of the present invention;

[0045] Figure 18 This is a top view of a carrier jig provided in a specific embodiment of the present invention when unloading a stack;

[0046] Figure 19 It is a schematic diagram of the communication relationship of the control unit provided in a specific embodiment of the present invention.

[0047] In the picture:

[0048] 100, material; 101, stack; 102, bundle;

[0049] 10. Unpacking and conveying device; 11. Lifting mechanism; 111. Lifting drive assembly; 112. Support plate; 1121. Avoidance hole; 1122. First groove; 12. First conveying mechanism; 121. First conveyor belt; 122. Stop assembly; 1221. Wide air gripper; 1222. Gear bar; 123. Material-snapping assembly; 1231. Material-snapping drive source; 1232. Material-snapping plate; 124. First pressing assembly; 1241. First pressing cylinder; 1242. First pressing plate; 13. Cutting mechanism; 131. Second pressing assembly ; 1311, second downward pressure cylinder; 1312, second downward pressure plate; 132, first suction cup assembly; 133, cutting assembly; 14, supporting block; 141, second groove; 15, adsorption recovery mechanism; 151, transverse drive assembly; 152, second suction cup assembly; 16, unloading drive mechanism; 161, unloading drive source; 162, unloading push rod; 17, second conveying mechanism; 171, supporting slide; 172, limit plate; 18, guide rod; 19, first vertical surface; 110, second vertical surface; 120, first housing;

[0050] 20. Transfer conveying device; 21. First lifting mechanism; 211. First lifting drive assembly; 212. Carrying plate; 213. Second slot; 22. High-altitude horizontal conveying mechanism; 221. Slideway assembly; 2211. Slideway body; 2212. Baffle; 2213. Shield; 2214. First slot; 222. Pusher drive assembly; 223. Push rod assembly; 23. Second lifting mechanism; 231. Second lifting drive assembly; 232. Carrying fixture; 2321. Frame body; 23211. Rear plate; 23212. Side plate; 23213. Gear slot; 2322. Tray; 23221. Tooth groove; 2323. Clamping plate assembly; 23231. Clamping cylinder; 23232. Clamping plate body; 2324. Unloading drive assembly; 24. Second housing;

[0051] 30. Stack area;

[0052] 40. Robot;

[0053] 50. Security scanner;

[0054] 60. 3D camera; 61. Mounting bracket;

[0055] 70. Control unit; 71. Main control module; 72. Industrial switch; 73. Servo drive module; 74. Robot control module; 75. Industrial computer; 751. Human-machine interface; 76. I / O control module; 77. Speed control motor module; 78. Sensor detection module; 79. Solenoid valve control module; 710. Safety control module; 711. 3D vision module;

[0056] 200. Packaging machine. DETAILED DESCRIPTION

[0057] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0058] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0059] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0060] In the description of this embodiment, the terms "upper," "lower," "right," and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely for ease of description and simplified operation. They do not indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meanings.

[0061] This embodiment provides a feeding system that can be used to feed materials to a packaging machine. Figure 1 As shown, the material 100 includes a stack 101 and a bundle 102. The stack 101 is formed by stacking multiple paper sheets. The bundle 102 is tied to the middle of the stack 101 along its length, so that both ends of the stack 101 are exposed outside the bundle 102. The loading system can remove the bundle 102 from the material 100 (hereinafter referred to as "unpacking") and then feed the stack 101 into the infeed of the packaging machine 200.

[0062] like Figure 2 and Figure 3 As shown, the loading system includes a stacking area 30, a robot 40, an unpacking conveyor 10, and a transfer conveyor 20. The stacking area 30 is used to palletize materials 100 to be unpacked. The robot 40 can sequentially feed the materials 100 from the stacking area 30 to the unpacking conveyor 10 in a preset order. The unpacking conveyor 10 can remove the bundles 102 from the materials 100, send the removed bundles 102 to a recycling bin, and then transfer the unpacked stack 101 to the transfer conveyor 20. The transfer conveyor 20 is used to feed the stack 101 into the packaging machine 200.

[0063] like Figure 2 As shown, the unpacking conveying device 10 is provided with a first shell 120, and the transfer conveying device 20 is provided with a second shell 24. The first shell 120 and the second shell 24 can prevent the operator from accidentally touching the shell, and the safety is better. Preferably, a first sensor (not shown) is provided at the door body of the first shell 120 (there can be one door body or multiple door bodies). When the unpacking conveying device 10 is in the working state, if the first sensor detects that the door body is open, the robot 40 stops running. Similarly, a second sensor is provided at the door body of the second shell 24 (there can be one door body or multiple door bodies). When the transfer conveying device 20 is in the working state, if the second sensor detects that the door body is open, the robot 40 stops running. The safety of the loading system is further improved by the first sensor and the second sensor.

[0064] The stacking area 30 and the robot 40 are not easily protected by protective enclosures, thus presenting certain safety risks. In the prior art, the robot 40 is typically a tiled industrial robot, requiring the installation of a fence around the loading system. However, if a person enters the fence and touches the robot 40 or the materials 100 in the stacking area 30, there is still a safety hazard.

[0065] In this regard, Figure 2 As shown, the loading system also includes a plurality of safety scanners 50, which are installed around the periphery of the stacking area 30. The safety scanners 50 are in communication with the robot 40. When the safety scanners 50 detect a person intruding, they communicate with the robot 40 and stop the robot 40, thereby reliably preventing personal injury and improving the safety of the loading system. Preferably, the loading system also includes an alarm component, which is in communication with the safety scanners 50. When the safety scanners 50 detect a person intruding, they communicate with the alarm component, causing the alarm component to sound an alarm, prompting the intruder to pay attention and leave, and notifying staff to verify and restart the robot 40 to resume operation. Optionally, the safety scanners 50 are preferably area scanners, so that multiple safety scanners 50 can enclose a more tightly packed area, thereby improving safety.

[0066] In this embodiment, Figure 2 As shown, the first housing 120 of the unpacking conveyor device 10 is formed with a first vertical surface 19 and a second vertical surface 110 arranged in an intersecting manner. The loading system includes two safety scanners 50. The scanning planes of the two safety scanners 50 are two horizontal fan-shaped planes arranged in an intersecting manner. The first vertical surface 19, the second vertical surface 110, and the scanning planes of the two safety scanners 50 enclose a safety zone, which covers the stacking area 30 and the active area of the robot 40. By arranging the stacking area 30 between the first vertical surface 19 and the second vertical surface 110, the first housing 120 of the unpacking conveyor device 10 naturally forms a protective layer for the stacking area 30. Therefore, only two more safety scanners 50 are required to fully protect the stacking area 30 and the active area of the robot 40, reducing the cost of the entire loading system. In this embodiment, both safety scanners 50 are mounted on the first housing 120 of the unpacking conveyor device 10.

[0067] Optionally, the robot 40 may be a six-axis robotic arm, with its fixed end mounted on the first housing 120 of the unpacking conveyor device 10, so that the output end of the robot 40 can conveniently grasp the materials 100 in the stacking area 30. Preferably, in this embodiment, the robot 40 is a collaborative six-axis robotic arm, with external force detection sensors installed at each joint of the six-axis robotic arm. When the external force detection sensors detect an external force contacting the robot 40, the robot 40 can be stopped, thereby further improving the safety of the loading system. The six-axis robotic arm with external force detection sensors is an existing component, and its specific structural details and operating principles are not further described here.

[0068] In order to ensure that the robot 40 can grab the stacked materials 100 in the stacking area 30 in a preset order, the existing technology usually uses a 2D camera in conjunction with the detection results of a distance sensor to obtain the position of each material 100 in the stacking area 30. This structure is not only complicated to install and has high requirements on the stacking standard of the materials 100, but can only detect the information of one material 100 at a time, resulting in low operating efficiency.

[0069] In this regard, Figure 2As shown, the loading system of this embodiment also includes a 3D camera 60, which is used to capture images of the stacking area 30. The 3D camera 60 is in communication with the robot 40, and the robot 40 is capable of grasping materials 100 in the stacking area 30 based on the images captured by the 3D camera 60. Specifically, the 3D camera 60 collects characteristic information of the materials 100 and performs model training using deep learning methods. Based on the captured images, the 3D spatial coordinates corresponding to each material 100 can be accurately calculated. Through coordinate transformation and path planning, the robot 40 can place the materials 100 from the stacking area 30 into the unpacking conveyor 10 in a predetermined order. This embodiment only requires a single component, the 3D camera 60, to capture 3D image information of the stacking area 30. It has a simple structure, is easy to install, and has low requirements for the standardization of the stacking of the materials 100. Furthermore, each layer of materials 100 only needs to be photographed once to obtain information about the entire layer, thereby improving the operating efficiency of the loading system.

[0070] In this embodiment, Figure 2 As shown, a mounting bracket 61 is provided at the top of the first shell 120 of the unpacking conveying device 10, and the 3D camera 60 is set on the mounting bracket 61. Fixing the 3D camera 60 at a higher position can not only prevent external structures from interfering with its shooting, but also ensure that the 3D camera 60 has a sufficiently large field of view, thereby covering the entire stacking area 30.

[0071] In the prior art, the unpacking and conveying device 10 usually recycles the bundle 102 by winding it with a rubber roller. Since the bundle 102 is usually packaged with tape, it is easy for the tape to stick to the rubber roller when the rubber roller is winding the bundle 102, which makes it impossible to smoothly recycle the bundle 102. In addition, when the rubber roller mechanism winds and pulls out the bundle 102, the bundle 102 is likely to drag the paper pieces of the stack 101 to cause displacement or disorder, thereby affecting the subsequent transportation of the stack 101.

[0072] Preferably, if Figure 4-Figure 9 As shown in the figure, the X and Y directions represent mutually perpendicular horizontal directions, and the Z direction represents the vertical direction. The unpacking conveying device 10 includes a frame, wherein the frame is arranged in the first shell 120, and the frame is used to support the structure in the first shell 120. The unpacking conveying device 10 also includes a lifting mechanism 11 supported on the frame, a first conveying mechanism 12, a cutting mechanism 13, two supporting blocks 14, an adsorption recovery mechanism 15, a material unloading drive mechanism 16 and a second conveying mechanism 17. Specifically, as shown in FIG. Figure 6 As shown, the lifting mechanism 11 includes a lifting drive assembly 111 and a supporting plate 112. The lifting drive assembly 111 can drive the supporting plate 112 to move along the Z direction and move from top to bottom to the cutting station, the unloading station and the recycling station. Figure 5As shown, the first conveying mechanism 12 is located on one side of the cutting station along the X direction. The first conveying mechanism 12 can convey the material 100 along the Y direction to the support plate 112 located at the cutting station. The cutting mechanism 13 is arranged above the lifting mechanism 11 and is located on the other side of the cutting station along the X direction. That is, the cutting mechanism 13 and the first conveying mechanism 12 are arranged opposite each other. The cutting mechanism 13 can cut off the bundle 102 on the material 100 located at the cutting station, that is, the bundle 102 loosens the restraint on the stack 101. Two supporting blocks 14 are fixed on the frame, as shown in FIG. Figure 8 As shown, when the supporting plate 112 moves to the blanking station, the two supporting blocks 14 can respectively penetrate the two ends of the supporting plate 112 along the X direction and limit the stacked body 101 on the supporting plate 112 to the blanking station, thereby separating the lower surface of the stacked body 101 from the binding member 102. Figure 9 As shown, the suction recovery mechanism 15 is disposed on one side of the recovery station along the X-axis, that is, opposite the lifting mechanism 11. The suction recovery mechanism 15 is capable of sucking the bundles 102 located on the support plate 112 at the recovery station and conveying the bundles 102 to a recovery box (not shown). The unloading drive mechanism 16 and the second conveying mechanism 17 are respectively disposed at both ends of the unloading station along the X-axis. The unloading drive mechanism 16 is capable of pushing the stack 101 located on the support plate 112 of the unloading station onto the second conveying mechanism 17.

[0073] The unpacking conveying device 10 of the present invention, when in use, the lifting drive assembly 111 first drives the supporting plate 112 to move to the cutting station; the robot 40 places the material 100 on the first conveying mechanism 12, and the first conveying mechanism 12 conveys the material 100 to the supporting plate 112; then the cutting mechanism 13 cuts off the strapping 102 on the material 100; then the lifting drive assembly 111 drives the supporting plate 112 and the material 100 to move downward together, and when the supporting plate 112 moves to the unloading station, the supporting block 14 passes through the supporting plate 112, and at this time, both ends of the stack 101 are supported on the supporting block 14, so that the stack 101 is no longer It moves downward, and the lifting drive component 111 continues to drive the supporting plate 112 to move downward, so the supporting plate 112 will drive the cut bundles 102 to move downward to the recycling station. At this time, the lower surface of the stacking body 101 is separated from the bundles 102; then the adsorption recovery mechanism 15 adsorbs the bundles 102 and transports the bundles 102 to the recycling box; then the lifting drive component 111 drives the supporting plate 112 to move upward to the unloading station, at this time the supporting plate 112 supports the stacking body 101 again; then the unloading drive mechanism 16 is activated, and then the stacking body 101 at the unloading station is pushed to the second conveying mechanism 17.

[0074] The unpacking and conveying device 10 of this embodiment is provided with a lifting mechanism 11 so that the cutting and recycling of the strapping pieces 102 are staggered in the upper and lower spaces, and there is space to set an adsorption and recycling mechanism 15 on the side of the strapping pieces 102, and remove the strapping pieces 102 and recycle them by adsorption. The strapping pieces 102 do not need to be wound, so the tape on the strapping pieces 102 will not adhere to other structures, ensuring smooth recycling of the strapping pieces 102; in addition, by providing a supporting block 14 at the unloading station, when the adsorption and recycling mechanism 15 adsorbs the strapping pieces 102, the strapping pieces 102 and the lower end of the stacking body 101 are completely separated, so that the strapping pieces 102 will not be dragged to the stacking body 101, avoiding position movement or dislocation of the stacking body 101.

[0075] like Figure 5 As shown, the first conveying mechanism 12 includes a first conveyor belt 121, which can drive the material 100 in the Y direction. Specifically, the first conveyor belt 121 includes a speed-regulating motor, a pulley, and a belt wound around the pulley. The speed-regulating motor drives the pulley to rotate, thereby causing the belt to drive the material 100 in the Y direction. The use of a speed-regulating motor for the first conveyor belt 121 allows the belt's rotational speed to be adjusted as needed, thereby adjusting the conveying speed of the material 100.

[0076] When the belt is conveying the material 100, it is easy to cause the position of the material 100 to deviate. Figure 5 and Figure 6 As shown, the first conveyor mechanism 12 also includes a material-snapping assembly 123 disposed on one side of the first conveyor belt 121 along the Y-direction. The material-snapping assembly 123 includes a material-snapping drive source 1231 and a material-snapping plate 1232. The material-snapping drive source 1231 can drive the material-snapping plate 1232 to move along the X-direction and contact the material 100 on the first conveyor belt 121. The material-snapping assembly 123 contacts the surface of the material 100 perpendicular to the X-direction, thereby correcting any positional deviation of the material 100 in the X-direction and ensuring that the material 100 lands accurately on the support plate 112 located at the cutting station, thereby ensuring smooth cutting. In this embodiment, the material-snapping assembly 123 is disposed at the end of the first conveyor belt 121 near the cutting station, correcting the deviation of the material 100 as it approaches the cutting station. Specifically, the material-snapping drive source 1231 can be a pneumatic cylinder, which provides high precision and easy control. Furthermore, the material-beating component 123 also includes a first solenoid valve, which is used to control the extension or retraction action of the cylinder.

[0077] Preferably, if Figure 5 and Figure 6As shown, the first conveying mechanism 12 further includes a stop assembly 122, which is disposed at one end of the first conveyor belt 121 along the Y-direction. The stop assembly 122 has a first state in which the material 100 is stopped at the end of the first conveyor belt 121, and a second state in which the material 100 is prevented from moving from the first conveyor belt 121 to the support plate 112. By stopping the surface of the material 100 perpendicular to the Y-direction by the stop assembly 122, positional deviations of the material 100 along the Y-direction can be corrected. The coordination of the material-snapping assembly 123 and the stop assembly 122 ensures the overall positional accuracy of the material 100 before reaching the cutting station, thereby ensuring the positional accuracy of the material 100 upon reaching the support plate 112 at the cutting station.

[0078] Preferably, in actual use, the stop assembly 122 switches from the first state to the second state after stopping at least two materials 100. When the stop assembly 122 switches from the first state to the second state, the stop assembly 122 prevents the movement of the materials 100 along the Y direction. At this time, the first conveyor belt 121 drives all materials 100 to move along the Y direction. For the first material 100, after a portion of it leaves the first conveyor belt 121, the materials 100 behind it will generate a forward propulsion force on the first material 100 until the first material 100 completely lands on the support plate 112 located at the cutting station. In this embodiment, by controlling the timing of the stop assembly 122 switching to the second state, the materials 100 behind it generate a propulsion force on the first material 100, ensuring that the first material 100 can accurately land on the support plate 112, thereby ensuring that subsequent cutting can proceed smoothly. Specifically, in this embodiment, during operation, the stop assembly 122 first moves to a first state capable of stopping the material 100. The first conveyor belt 121 then conveys the material 100 toward the stop assembly 122. After the stop assembly 122 stops three materials 100, the stop assembly 122 switches from the first state to the second state. The first conveyor belt 121 and the next two materials 100 push the first material 100 onto the support plate 112. Preferably, the unpacking conveying device 10 also includes a first position sensor, which is used to detect whether a material 100 has reached the support plate 112 at the cutting station. When the first position sensor detects that a material 100 has reached the support plate 112, the first conveyor belt 121 stops conveying after a preset delay. This delay is intended to ensure that the material 100 completely lands on the support plate 112.

[0079] In this embodiment, Figure 6As shown, the stop assembly 122 includes a wide air gripper 1221 and two stop rods 1222. The wide air gripper 1221 is fixed to the frame, and the two stop rods 1222 are respectively connected to the two output ends of the wide air gripper 1221. The two output ends of the wide air gripper 1221 are arranged along the X-axis and can move toward or away from each other in this direction. When the two output ends of the wide air gripper 1221 approach each other, the two stop rods 1222 approach and reach a position that can stop the material 100, indicating that the stop assembly 122 enters the first state. When the two output ends of the wide air gripper 1221 move away from each other, the two stop rods 1222 move away, thereby preventing the material 100 from moving along the Y-axis from the first conveyor belt 121 to the support plate 112, indicating that the stop assembly 122 enters the second state. Specifically, the stop assembly 122 also includes a second solenoid valve that controls the extension and retraction of the output end of the wide air gripper 1221.

[0080] Preferably, if Figure 6 As shown, the first conveying mechanism 12 further includes a first pressing assembly 124. The first pressing assembly 124 can press the next material 100 (i.e., the second material 100) on the first conveyor belt 121 after the first conveyor belt 121 conveys the previous material 100 (i.e., the first material 100) to the support plate 112. This prevents the second material 100 from continuing to move under the action of inertia, and also prevents the second material 100 from pulling and dragging against the first material 100. In this embodiment, as Figure 6 As shown, the first pressing assembly 124 includes a first pressing cylinder 1241 and a first pressing plate 1242. The first pressing cylinder 1241 is fixed to the frame with its output end facing downward. The first pressing plate 1242 is connected to the output end of the first pressing cylinder 1241. The first pressing cylinder 1241 can drive the first pressing plate 1242 to move downward, thereby compacting the material 100 located at the end of the first conveyor belt 121. In this embodiment, the first pressing assembly 124 also includes a third solenoid valve, which is used to control the extension and retraction of the output end of the first pressing cylinder 1241. It should be noted that the first pressing assembly 124 is activated when the first position sensor detects that the material 100 has reached the support plate 112. The first pressing assembly 124 stops conveying after a preset delay. That is, the downward pressing action of the first pressing assembly 124 is performed simultaneously with the cessation of conveying of the first conveyor belt 121.

[0081] When the material 100 reaches the support plate 112 at the cutting station accurately, the cutting mechanism 13 cuts off the bundle 102 of the material 100. Figure 6 and Figure 7As shown, the cutting mechanism 13 includes a second pressing assembly 131, a first suction cup assembly 132, and a cutting assembly 133. The second pressing assembly 131 can press the upper surface of the material 100 at the cutting station, thereby creating a certain gap between the first side surface of the bundle 102 (i.e., the side surface of the bundle 102 facing away from the first conveying mechanism 12 and also the side surface of the bundle 102 facing the cutting assembly 133) and the stack 101. The first suction cup assembly 132 can absorb the first side surface of the bundle 102 of the material 100 at the cutting station and move the first side surface away from the stack 101 in the Y direction, thereby further increasing the gap between the bundle 102 and the stack 101. At this time, the cutting assembly 133 can output and move in the X direction to cut the bundle 102. The second pressing assembly 131 and the second suction cup assembly 152 can ensure that a sufficiently large gap is formed between the binding piece 102 and the stacking body 101 , thereby ensuring that the stacking body 101 is not damaged during the process of cutting the binding piece 102 .

[0082] Preferably, in this embodiment, Figure 7 As shown, the cutting mechanism 13 includes two first suction cup assemblies 132 spaced apart in the Z direction, and the cutting assembly 133 is disposed between the two sets of first suction cup assemblies 132. By arranging the cutting assembly 133 between the two first suction cup assemblies 132, the cutting assembly 133 is precisely aligned with the position where the gap between the binding member 102 and the stack 101 is the largest, thereby further preventing the cutting assembly 133 from damaging the stack 101.

[0083] In this embodiment, Figure 7As shown, the second pressing assembly 131 includes a second pressing cylinder 1311 and a second pressing plate 1312. The second pressing cylinder 1311 is fixed to the frame, and the output end of the second pressing cylinder 1311 is set downward. The second pressing plate 1312 is connected to the output end of the second pressing cylinder 1311. The second pressing assembly 131 also includes a fourth solenoid valve, which is used to control the extension and retraction of the second pressing cylinder 1311. The first suction cup assembly 132 includes an extension cylinder and a first suction nozzle. The extension cylinder is fixed to the frame and can output movement along the Y direction. The first suction nozzle is connected to the output end of the extension cylinder. The extension cylinder drives the first suction nozzle to approach the material 100 along the Y direction so that the first suction nozzle can be adsorbed to the strapping piece 102. When the extension cylinder drives the first suction nozzle to move away from the material 100 along the Y direction, a gap can be generated between the strapping piece 102 and the stacking body 101. In this embodiment, the first suction cup assembly 132 further includes a fifth solenoid valve and a sixth solenoid valve, wherein the fifth solenoid valve is used to control the extension and retraction of the extension cylinder, and the sixth solenoid valve is used to control the first suction nozzle to generate or break a vacuum. The cutting assembly 133 includes a cutting cylinder and a cutting knife, wherein the cutting cylinder is fixed to the frame and can output linear motion along the X-direction, and the cutting knife is connected to the output end of the cutting cylinder. The cutting cylinder drives the cutting knife to move along the X-direction, thereby cutting the first side surface of the strapping 102 along the X-direction. In this embodiment, the cutting assembly 133 further includes a seventh solenoid valve, which is used to control the extension and retraction of the cutting cylinder.

[0084] When the strapping piece 102 is cut, the first suction cup assembly 132 releases the strapping piece 102, the second pressing assembly 131 is lifted and no longer presses down the material 100, and the cutting assembly 133 is reset. At this time, the lifting drive assembly 111 drives the supporting plate 112 and the material 100 thereon to move downward together.

[0085] Preferably, if Figure 7 and Figure 8 As shown, the lifting drive assembly 111 is a linear module. Specifically, the lifting drive assembly 111 is arranged below the cutting mechanism 13 along the Z direction. The lifting drive assembly 111 includes a first servo motor and a first transmission assembly. The support plate 112 is connected to the output end of the first transmission assembly. The first transmission assembly converts the rotational motion of the first servo motor into linear motion along the Z direction.

[0086] Preferably, if Figure 8As shown, the supporting block 14 is fixed on the frame, and the supporting plate 112 is provided with avoidance holes 1121 at both ends along the X direction. When the lifting drive assembly 111 drives the supporting plate 112 to move to the unloading station, each supporting block 14 is correspondingly penetrated with an avoidance hole 1121, so that the supporting block 14 can contact the two ends of the stacking body 101 along the X direction. When the supporting plate 112 continues to move downward to the recovery station, the stacking body 101 remains on the supporting block 14, and the bundling piece 102 moves downward together with the supporting plate 112 to separate the lower surface of the stacking body 101 from the bundling piece 102.

[0087] Preferably, if Figure 8 As shown, the unpacking conveyor device 10 further includes a plurality of guide rods 18 , which are disposed on the frame and extend along the Z direction. The guide rods 18 are disposed on both sides of the support plate 112 along the X direction to limit the stacked bodies 101 on the support plate 112 when the support plate 112 is raised or lowered, thereby preventing the stacked bodies 101 from shifting or misaligning during the raising or lowering process, thereby ensuring that the stacked bodies 101 can be smoothly driven by the unloading drive mechanism 16 to the second conveying mechanism 17 . In this embodiment, four guide rods 18 are provided, two of which are disposed on one side of the support plate 112 along the X direction, and the other two are disposed on the other side of the support plate 112 along the X direction. In other embodiments, the number and position of the guide rods 18 can also be adjusted according to actual needs.

[0088] like Figure 8-Figure 9 As shown, the adsorption recovery mechanism 15 is arranged opposite to the lifting drive assembly 111. The adsorption recovery mechanism 15 includes a transverse drive assembly 151 and a second suction cup assembly 152. The transverse drive assembly 151 can drive the second suction cup assembly 152 to approach the support plate 112 located at the recovery station along the Y direction, so that the second suction cup assembly 152 contacts and adsorbs the second side surface of the bundle 102 on the support plate 112, which is a surface arranged opposite to the first side surface. The transverse drive assembly 151 can also drive the second suction cup assembly 152 to move away from the support plate 112 located at the recovery station along the Y direction, so that the second suction cup assembly 152 moves to the top of the recovery box. When the second suction cup assembly 152 breaks the vacuum, the bundle 102 automatically falls into the recovery box.

[0089] In this embodiment, the transverse drive assembly 151 includes a transverse cylinder, and the second suction cup assembly 152 is connected to the output end of the transverse cylinder. The transverse cylinder can output linear motion along the Y direction to drive the second suction cup assembly 152 to move closer to or away from the strapping member 102. In this embodiment, the transverse drive assembly 151 also includes an eighth solenoid valve, which is used to extend or retract the output end of the transverse cylinder. The second suction cup assembly 152 includes a support plate and a plurality of second suction nozzles, the support plate is connected to the output end of the transverse cylinder, and the second suction nozzles are fixed on the support plate. The second suction cup assembly 152 also includes a ninth solenoid valve, which can control the second suction nozzle to generate or break vacuum.

[0090] When the adsorption recovery mechanism 15 takes away the bundle 102, the lifting drive assembly 111 drives the support plate 112 to move upward from the recovery station to the unloading station. Figure 8 As shown, the upper surface of the supporting plate 112 is flush with the upper surface of the supporting block 14. At this time, the supporting plate 112 and the supporting block 14 jointly support the stack 101. Preferably, the supporting plate 112 is further provided with a first groove 1122 extending along the X direction, as shown in FIG. Figure 9 As shown, the unloading drive mechanism 16 includes a unloading drive source 161 and a unloading push rod 162. The unloading drive source 161 can drive the unloading push rod 162 to move in the X direction, and the lower end of the unloading push rod 162 can extend into the first groove 1122. Because the stack 101 is formed by stacking multiple paper sheets, by inserting the lower end of the unloading push rod 162 into the first groove 1122, the unloading push rod 162 can fully contact all the paper sheets in the stack 101, thereby ensuring that the bottommost paper sheets can also move together during the process of pushing the stack 101 to the second conveying mechanism 17. In this embodiment, the support block 14 is provided with a second groove 141 that matches the position of the first groove 1122. The provision of the second groove 141 allows the unloading push rod 162 to move smoothly in the X direction.

[0091] In this embodiment, the unloading drive source 161 can be a linear module. Specifically, the unloading drive source 161 includes a second servo motor and a second transmission assembly, and the unloading push rod 162 is connected to the output end of the second transmission assembly. The second transmission assembly can convert the rotational motion output by the second servo motor into linear motion along the X-axis, thereby pushing the stack 101 onto the second conveying mechanism 17. The unloading drive source 161 can continue to drive the stack 101 along the second conveying mechanism 17 along the X-axis until the stack 101 is pushed from the second conveying mechanism 17 to the transfer conveyor device 20.

[0092] In this embodiment, Figure 7As shown, the second conveying mechanism 17 includes a supporting slide 171 and two limit plates 172. The supporting slide 171 extends along the X-direction, and the two limit plates 172 are respectively located on either side of the supporting slide along the X-direction. The unloading drive source 161 can drive the unloading push rod 162 to push the stack 101 from the supporting plate 112 located at the unloading station onto the supporting slide 171, and then continue to push the stack 101 from the supporting slide 171 to the transfer conveyor device 20. The two limit plates 172 can limit the stack 101, preventing the stack 101 from positionally deviating along the Y-direction when moving on the supporting slide 171. Preferably, the supporting surface of the supporting slide 171 is wavy along the Y direction. On the one hand, it can reduce the friction on the stacking body 101 and make the stacking body 101 move more smoothly. On the other hand, the lower end of the unloading push rod 162 can be inserted into the concave part of the wave to ensure that the paper sheet at the bottom layer of the stacking body 101 can also move smoothly along the supporting slide 171.

[0093] Typically, to facilitate operator operation and maintenance of the packaging machine 200, no other structures should be placed immediately adjacent to the packaging machine 200, even if a certain amount of space is left around the packaging machine 200. Consequently, the path for conveying the stacks 101 to the packaging machine 200 may be rather tortuous. Conventional transfer conveyor devices 20 occupy a significant area within the factory, hindering the overall factory layout.

[0094] In this regard, preferably, Figure 1 and Figure 2 As shown, the transfer conveyor device 20 includes a front section and a rear section, wherein the front section of the transfer conveyor device 20 is used to dock with the unpacking conveyor device 10. The front section is located to the side of the packaging machine 200 and is spaced apart from the packaging machine 200. The rear section of the transfer conveyor device 20 is located above the packaging machine 200 and can convey the stacked objects 101 from top to bottom into the packaging machine 200. By arranging the front section of the transfer conveyor device 20 at a distance from the packaging machine 200 and the rear section conveying the stacked objects 101 from top to bottom into the packaging machine 200, on the one hand, it is ensured that there is an area around the packaging machine 200 for staff to operate, meeting the usage requirements of the packaging machine 200; on the other hand, by arranging the rear section of the transfer conveyor device 20 above the packaging machine 200, the space above the packaging machine 200 is fully utilized, thereby reducing the footprint of the transfer conveyor device 20 and facilitating the layout of the factory.

[0095] Specifically, if Figure 1 and Figure 10As shown, the transfer conveying device 20 includes a first lifting mechanism 21, an overhead horizontal conveying mechanism 22, and a second lifting mechanism 23. The first lifting mechanism 21 constitutes the front section of the transfer conveying device 20, and the overhead horizontal conveying mechanism 22 and the second lifting mechanism 23 constitute the rear section of the transfer conveying device 20. The overhead horizontal conveying mechanism 22 extends along the Y direction, with both ends of the overhead horizontal conveying mechanism 22 docking with the upper end of the first lifting mechanism 21 and the upper end of the second lifting mechanism 23, respectively. The first lifting mechanism 21 can receive the stack 101 from the unpacking conveying device 10 and can lift the stack 101 along the Z direction. The overhead horizontal conveying mechanism 22 can receive the stack 101 on the first lifting mechanism 21 and convey the stack 101 to the second lifting mechanism 23. The second lifting mechanism 23 can drive the stack 101 to descend along the Z direction and place it in the packaging machine 200. In this embodiment, the unloading drive mechanism 16 can push the stack 101 on the second conveying mechanism 17 into the first lifting mechanism 21. In order to facilitate the docking of the first lifting mechanism 21 and the second conveying mechanism 17 , the first lifting mechanism 21 is disposed in the first housing 120 of the unpacking and conveying device 10 .

[0096] Preferably, if Figure 10 and Figure 11 As shown, the first lifting mechanism 21 includes a first lifting drive assembly 211 and a carrier plate 212. The carrier plate 212 is arranged on the side of the first lifting drive assembly 211 facing the high-altitude horizontal conveying mechanism 22. The carrier plate 212 is used to support the stacked body 101. The unloading drive mechanism 16 can push the stacked body 101 on the second conveying mechanism 17 onto the carrier plate 212. The first lifting drive assembly 211 can drive the carrier plate 212 to move along the Z direction and dock with the high-altitude horizontal conveying mechanism 22. In this embodiment, the first lifting drive assembly 211 can be a linear module. Specifically, the first lifting drive assembly 211 includes a third servo motor and a third transmission assembly. The carrier plate 212 is connected to the output end of the third transmission assembly. The third transmission assembly converts the rotational motion of the third servo motor into linear motion along the Z direction.

[0097] In the prior art, stacked paper sheets are usually transported by belt conveyor. Since the stack 101 is composed of multiple layers of independent paper sheets, during the process of belt conveying the stack 101, the belt only applies force to the bottom layer of paper sheets, while the upper layer of paper sheets advances due to the friction force of the lower layer of paper sheets. The driving force of each layer of paper sheets is inconsistent, so the layers of paper sheets may be misaligned during the conveying process, which will cause the stack 101 to be unable to meet the use requirements due to excessive misalignment when entering the packaging machine 200.

[0098] like Figure 11-13As shown, the high-altitude horizontal conveying mechanism 22 includes a slide assembly 221, a push drive assembly 222, and a push rod assembly 223. The slide assembly 221 extends along the Y direction, and the push drive assembly 222 can drive the push rod assembly 223 to move along the Y direction, so that the push rod assembly 223 sequentially completes: pushing the stack 101 from the first lifting mechanism 21 to the slide assembly 221, moving the stack 101 along the slide assembly 221, and pushing the stack 101 on the slide assembly 221 to the second lifting mechanism 23. In this embodiment, through the cooperation of the slide assembly 221, the push drive assembly 222, and the push rod assembly 223, not only the transfer of the stack 101 between the first lifting mechanism 21 and the high-altitude horizontal conveying mechanism 22 and the transfer between the high-altitude horizontal conveying mechanism 22 and the second lifting mechanism 23 is achieved, but also the transportation of the stack 101 in the high-altitude horizontal conveying mechanism 22 is achieved. In addition, compared with the existing method of horizontal conveying using a belt, in this embodiment, during the horizontal conveying of the stacking body 101, the push rod assembly 223 contacts the entire stacking body 101, thereby uniformly applying pushing force to each layer of paper in the stacking body 101, thereby avoiding the problem of misalignment of each layer of paper in the stacking body 101 during the conveying process.

[0099] In this embodiment, the pushing drive assembly 222 can be a linear module. Specifically, the pushing drive assembly 222 includes a fourth servo motor and a fourth transmission assembly. The output end of the push rod assembly 223 is connected to the output end of the fourth transmission assembly. The fourth transmission assembly converts the rotational motion of the fourth servo motor into linear motion along the Y direction.

[0100] Preferably, if Figure 12 and Figure 13 As shown, the slide assembly 221 includes a slide body 2211, and the upper surface of the slide body 2211 is provided with a first slot 2214 extending along the Y direction. The first end of the push rod assembly 223 is connected to the output end of the push drive assembly 222, and the second end can be inserted into the first slot 2214. By inserting the push rod assembly 223 into the first slot 2214, the push rod assembly 223 can fully contact the paper sheet at the bottom of the stack 101 and provide a force to ensure that all paper sheets of the stack 101 move synchronously. Optionally, the number of the first slots 2214 is two, and correspondingly, the second end of the push rod assembly 223 can respectively cooperate with the two second slots 213. In other embodiments, the number of the second slots 213 can be more, which can be set according to actual needs and is not limited here.

[0101] Preferably, if Figure 11As shown, the carrier plate 212 is provided with a second slot 213 extending along the Y-direction. The second slot 213 can be collinear with the first slot 2214. The second end of the push rod assembly 223 can be inserted into the second slot 213. When the end of the push rod assembly 223 is inserted into the second slot 213 and moves along the Y-direction, it can fully contact the paper pieces in the bottom layer of the stack 101 and provide a force, ensuring that the paper pieces in the bottom layer can also be smoothly pushed onto the slide body 2211. In this embodiment, the number of second slots 213 is the same as the number of first slots 2214. When the carrier plate 212 is docked with the slide body 2211, each second slot 213 corresponds to a second slot 213 collinearly.

[0102] Preferably, if Figure 13 As shown, the upper surface of the slide body 2211 is configured in a wavy shape along its width. The wavy shape is composed of multiple arc segments, which reduces the contact area between the slide body 2211 and the stack 101, thereby reducing the friction between the slide body 2211 and the stack 101, making the stack 101 move more smoothly on the slide body 2211.

[0103] Preferably, if Figure 12 As shown, the slide assembly 221 further includes baffles 2212, which are disposed on both sides of the slide body 2211 along the Y direction. The baffles 2212 on both sides can limit the position of the stack 101 along the X direction, thereby preventing the stack 101 from positionally deviating along the X direction. In this embodiment, the push rod assembly 223 is formed by connecting multiple rod sections so that the push rod assembly 223 can extend from the outside of the baffle 2212 to the inside of the baffle 2212.

[0104] Preferably, the slide assembly 221 also includes a shield 2213, which covers the slide body 2211 and the stack 101 thereon, thereby improving the safety of high-altitude transportation. Preferably, the shield 2213 can be selectively opened to facilitate maintenance in the event of a malfunction of the high-altitude horizontal conveying device. The specific method for opening the shield 2213 can be driven by an electric push rod, which is not specifically limited here.

[0105] like Figure 14-16As shown in the figure, the second lifting mechanism 23 includes a second lifting drive assembly 231 and a carrier fixture 232. The pusher drive assembly 222 can drive the push rod assembly 223 to push the stack 101 on the slideway assembly 221 onto the carrier fixture 232. The second lifting drive assembly 231 can drive the carrier fixture 232 to move in the Z direction. The carrier fixture 232 can support the stack 101, correct the position of the stack 101, and automatically unload the stack 101 into the packaging machine 200. In this embodiment, through the cooperation of the second lifting drive assembly 231 and the carrier fixture 232, the stack 101 can be conveyed from top to bottom into the packaging machine 200, thus not occupying the space around the packaging machine 200. The carrier fixture 232 can further correct the position of the stack 101 to ensure that the stack 101 enters the packaging machine 200 in an accurate posture.

[0106] In this embodiment, the second lifting drive assembly 231 can be a linear module. Specifically, the second lifting drive assembly 231 includes a fifth servo motor and a fifth transmission assembly. The carrier fixture 232 is connected to the output end of the fifth transmission assembly. The fifth transmission assembly can convert the rotational motion of the fifth servo motor into a linear motion in the Z direction to drive the carrier fixture 232 to rise to the upper end to dock with the slideway assembly 221, or move to the lower end and be located above the feeding end of the packaging machine 200.

[0107] In this embodiment, as Figure 16-Figure 18 shown, the carrier fixture 232 includes a frame body 2321 and a tray 2322. The frame body 2321 is connected to the output end of the second lifting drive assembly 231, and the tray 2322 is connected to the frame body 2321. The tray 2322 is used to support the stack 101. The pusher drive assembly 222 can drive the push rod assembly 223 to push the stack 101 on the slideway assembly 221 onto the tray 2322 to facilitate the second lifting drive assembly 231 to drive the stack 101 to move up and down. During the process of the push rod assembly 223 pushing the stack 101 in the Y direction onto the tray 2322, the push rod assembly 223 and the frame body 2321 can limit the position of the stack 101 in the Y direction. In this embodiment, the frame body 2321 is generally in a "U" shape, that is, it includes a rear plate 23211 and two side plates 23212. The opening of the frame body 2321 faces the horizontal high-altitude conveying device 22. The cooperation between the push rod assembly 223 and the rear plate 23211 can achieve the position limitation of the stack 101 in the Y direction.

[0108] Preferably, as Figure 17 and Figure 18As shown, the carrying jig 232 also includes a clamping plate assembly 2323, which is connected to the frame body 2321. The clamping plate assembly 2323 can clamp the stack 101 along the X-direction, thereby correcting the position and posture of the stack 101 on the pallet 2322 along the X-direction, ensuring that the stack 101 ultimately enters the packaging machine 200 in an accurate position and posture. In this embodiment, the clamping plate assembly 2323 includes a clamping cylinder 23231 and two clamping plate bodies 23232. The clamping cylinder 23231 is fixedly connected to the frame body 2321. The two clamping plate bodies 23232 are respectively connected to the two output ends of the clamping cylinder 23231 and are located between the two side plates 23212 of the frame body 2321. The clamping cylinder 23231 can drive the two clamping plate bodies 23232 to approach each other along the X-direction to clamp the stack 101. Preferably, the clamping plate assembly 2323 further includes a tenth solenoid valve, which is used to control the extension and retraction of the output end of the clamping cylinder 23231, thereby controlling the clamping or release of the clamping plate body 23232.

[0109] Preferably, if Figure 16-Figure 18 As shown, the carrier jig 232 further includes a discharge drive assembly 2324, which is disposed on the frame body 2321 and has an output end connected to the tray 2322. The discharge drive assembly 2324 can drive the tray 2322 to move relative to the frame body 2321 along the Y direction, so that the frame body 2321 pushes down the stacked body 101 on the tray 2322. When the second lifting drive assembly 231 drives the carrier jig 232 to move downward to the feeding end of the packaging machine 200 (such as Figure 14 As shown, after the feeding end is above the belt assembly), the unloading drive assembly 2324 drives the tray 2322 to withdraw backward along the Y direction, and the stacking body 101 will not move along the Y direction under the action of the rear plate 23211 of the frame body 2321. At this time, the tray 2322 no longer supports the stacking body 101. When the clamping cylinder 23231 of the clamping plate assembly 2323 drives the two clamping plate bodies 23232 to move away from each other, the stacking body 101 is no longer supported by any carrier 232, and will fall on the feeding end of the packaging machine 200, thereby realizing automatic unloading of the carrier 232. In this embodiment, the unloading drive assembly 2324 can be a cylinder, and the unloading drive assembly 2324 is fixed on the frame body 2321 and the output end is connected to the tray 2322. The unloading drive assembly 2324 also includes an eleventh solenoid valve, which is used to control the extension and retraction action of the cylinder.

[0110] Preferably, if Figure 16As shown, the tray 2322 is provided with a tooth groove 23221 extending along the Y direction, and the frame body 2321 is provided with a tooth 23213 on the side facing the upper surface of the tray 2322. The tooth 23213 is inserted into the tooth groove 23221 and can slide relative to the tooth groove 23221. In this embodiment, the tooth 23213 is provided on the rear plate 23211 of the frame body 2321. Through the cooperation between the tooth 23213 and the tooth groove 23221 on the tray 2322, the rear plate 23211 can stably contact the paper pieces of the bottom layer of the stack 101. Therefore, when the tray 2322 is withdrawn along the Y direction, the rear plate 23211 can stop all the paper pieces of the stack 101 from moving, thereby ensuring that all the paper pieces of the stack 101 fall into the feeding end of the packaging machine 200 at the correct position. Optionally, as Figure 16 As shown, three insert teeth 23213 are provided on the frame body 2321, and three tooth grooves 23221 are correspondingly provided on the tray 2322. Each insert tooth 23213 is correspondingly inserted into a tooth groove 23221. In other embodiments, the number of tooth grooves 23221 and insert teeth 23213 can be flexibly set and is not limited here.

[0111] Preferably, if Figure 19 As shown, the feeding system further includes a control unit 70, which is used to control the operation of the robot 40, the 3D camera 60, the unpacking conveying device 10 and the transfer conveying device 20. Figure 19 As shown, the control unit 70 includes a main control module 71, an industrial switch 72, a servo drive module 73, a robot control module 74, an industrial computer 75, an I / O control module 76, a speed control motor module 77, a sensor detection module 78, and a solenoid valve control module 79. The industrial switch 72 is communicatively connected to the main control module 71, and the servo drive module 73 is communicatively connected to the industrial switch 72. The robot control module 74 is communicatively connected to the industrial switch 72. The industrial computer 75 is communicatively connected to the industrial switch 72 and includes a human-machine interface 751. The 3D vision module 711 is communicatively connected to the industrial computer 75. The I / O control module 76 is communicatively connected to the main control module 71, and the speed control motor module 77, the sensor detection module 78, and the solenoid valve control module 79 are all communicatively connected to the I / O control module 76.

[0112] In this embodiment, the first, second, third, fourth, and fifth servo motors are all electrically connected to a servo drive module 73. The main control module 71 transmits signals to and from the servo drive module 73 via an industrial switch 72, thereby controlling the five servo motors. Specifically, the main control module 71 and the industrial switch 72 communicate via the EtherCAT protocol, and the industrial switch 72 and the servo drive module 73 communicate via the EtherCAT protocol.

[0113] In this embodiment, the robot 40 is electrically connected to the robot control module 74. The main control module 71 transmits signals to the robot control module 74 via the industrial switch 72, thereby controlling the movement of the robot 40. Specifically, the industrial switch 72 communicates with the servo drive module 73 via the EtherNet / IP protocol.

[0114] In this embodiment, the human-machine interface 751 is used by personnel to select and operate the entire loading system. The main control module 71 transmits signals to the human-machine interface 751 via the industrial switch 72, enabling the loading system to execute the personnel's operations. The industrial switch 72 communicates with the industrial computer 75 via the Modbus TCP protocol, and further communicates with the human-machine interface 751.

[0115] In this embodiment, the 3D camera 60 is electrically connected to the 3D vision module 711. The main control module 71 controls the 3D camera 60 by transmitting signals to and from the 3D vision module 711 via an industrial switch 72 and an industrial computer 75. Specifically, the industrial computer 75 and the 3D vision module 711 communicate via the TCP / IP protocol.

[0116] In this embodiment, the speed-regulating motor at the first conveyor belt 121 is electrically connected to the speed-regulating motor module 77. The main control module 71 transmits signals to the speed-regulating motor module 77 via the I / O control module 76, thereby controlling the speed-regulating motor. Communication between the main control module 71 and the I / O control module 76 is performed via the EtherCAT protocol.

[0117] In this embodiment, the first sensor at the door body on the first shell 120, the second sensor at the door body of the second shell 24, the first position sensor, etc. are all electrically connected to the sensor detection module 78, and the main control module 71 realizes signal transmission between the sensor detection module 78 through the I / O control module 76, thereby realizing control of each sensor.

[0118] In this embodiment, the first solenoid valve, the second solenoid valve ... the eleventh solenoid valve are all electrically connected to the solenoid valve control module 79. The main control module 71 transmits signals to the solenoid valve control module 79 via the I / O control module 76, thereby controlling each solenoid valve.

[0119] Preferably, the control unit 70 also includes a safety control module 710, with the servo drive module 73 and the sensor detection module 78 each communicating with the safety control module 710. Specifically, the servo drive module 73 communicates with the main control module 71 via two lines, the safety control module 710 and the industrial switch 72, respectively, improving the operational safety of each servo motor. Similarly, the sensor detection module 78 communicates with the main control module 71 via two lines, the I / O control module 76 and the safety control module 710, respectively, improving the operational safety of each sensor.

[0120] Preferably, the packaging machine 200 includes a packaging machine control cabinet, which is communicatively connected to the I / O control module 76 , thereby enabling communication with the main control module, so that the loading system can load materials according to the needs of the packaging machine 200 .

[0121] Obviously, the above embodiments of the present invention are merely examples for the purpose of illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will readily vary the specific embodiments and scope of application based on the principles of the present invention, and this specification should not be construed as limiting the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the claims.

Claims

1. A transfer conveying device for transferring a stack (101) formed by stacking a plurality of paper sheets, characterized in that: The transfer conveying device comprises a first lifting mechanism (21), a high-altitude horizontal conveying mechanism (22) and a second lifting mechanism (23); the high-altitude horizontal conveying mechanism (22) extends along the Y direction, and its two ends are respectively connected to the upper end of the first lifting mechanism (21) and the upper end of the second lifting mechanism (23); The first lifting mechanism (21) is capable of lifting the stack (101) along the Z direction, the high-altitude horizontal conveying mechanism (22) is capable of acquiring the stack (101) on the first lifting mechanism (21) and conveying the stack (101) to the second lifting mechanism (23), and the second lifting mechanism (23) is capable of driving the stack (101) to descend along the Z direction and place it on the feeding end of the packaging machine (200); The high-altitude horizontal conveying mechanism (22) comprises: A slideway assembly (221) extending along the Y direction; A push drive assembly (222) and a push rod assembly (223), wherein the push drive assembly (222) can drive the push rod assembly (223) to move along the Y direction, so that the push rod assembly (223) can sequentially push the stacking body (101) from the first lifting mechanism (21) to the slide assembly (221), push the stacking body (101) to move along the slide assembly (221), and push the stacking body (101) on the slide assembly (221) to the second lifting mechanism (23); The slide assembly (221) comprises a slide body (2211), the upper surface of the slide body (2211) is provided with a first slot (2214) extending along the Y direction, the first end of the push rod assembly (223) is connected to the output end of the push drive assembly (222), and the second end can be inserted into the first slot (2214); The upper surface of the slide body (2211) is configured to be wavy along its width direction; The transfer conveying device comprises a front section and a rear section, wherein the front section of the transfer conveying device is used to dock with the unpacking conveying device, the front section is located on the side of the packaging machine (200) and is spaced apart from the packaging machine (200), and the rear section of the transfer conveying device is located above the packaging machine (200), and the rear section can convey the stack (101) from top to bottom into the packaging machine (200); The first lifting mechanism (21) constitutes the front section of the transfer and conveying device, and the high-altitude horizontal conveying mechanism (22) and the second lifting mechanism (23) constitute the rear section of the transfer and conveying device.

2. The transfer conveying device according to claim 1, characterized in that: The first lifting mechanism (21) comprises a first lifting drive assembly (211) and a carrying plate (212), wherein the carrying plate (212) is used to support the stacking body (101), and the first lifting drive assembly (211) can drive the carrying plate (212) to move along the Z direction and dock with the slideway body (2211); The carrier plate (212) is provided with a second slot (213) extending along the Y direction, the second slot (213) can be colinear with the first slot (2214), and the second end of the push rod assembly (223) can be inserted into the second slot (213).

3. The transfer conveying device according to claim 1, characterized in that: The slideway assembly (221) further comprises: baffles (2212), arranged on both sides of the slideway body (2211) along the Y direction, the baffles (2212) being used to limit the stack (101); and / or A protective cover (2213) is provided on the slide body (2211), and the protective cover (2213) can be selectively opened.

4. The transfer conveying device according to any one of claims 1 to 3, characterized in that: The second lifting mechanism (23) comprises a second lifting drive assembly (231) and a carrier jig (232); the second lifting drive assembly (231) can drive the carrier jig (232) to move along the Z direction; the carrier jig (232) can support the stacked body (101), correct the position of the stacked body (101), and automatically unload the stacked body (101).

5. The transfer conveying device according to claim 4, characterized in that: The transport fixture (232) includes: The frame body (2321) is connected to the output end of the second lifting drive assembly (231); A tray (2322) is connected to the frame body (2321), and the tray (2322) is used to support the stacked body (101); A clamping plate assembly (2323) is connected to the frame body (2321), and the clamping plate assembly (2323) can clamp the stacked body (101) along the X direction.

6. The transfer conveying device according to claim 5, characterized in that: The transport jig (232) further includes a discharge drive assembly (2324), which is arranged on the frame body (2321) and the output end is connected to the tray (2322). The discharge drive assembly (2324) can drive the tray (2322) to move along the Y direction relative to the frame body (2321) so that the frame body (2321) pushes down the stack (101) on the tray (2322).

7. The transfer conveying device according to claim 5, characterized in that: The tray (2322) is provided with a tooth groove (23221) extending along the Y direction, and the frame body (2321) is provided with a tooth (23213) on the side facing the upper surface of the tray (2322), and the tooth (23213) is inserted into the tooth groove (23221) and can slide relative to the tooth groove (23221).

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