A feeding system

Abstract

The present invention relates to the technical field of automated equipment, and discloses a feeding system. The feeding system includes an unpacking conveying device, a transfer conveying device, a stacking area, a robot, and a plurality of safety scanners. The unpacking conveying device is used to remove the bundles of materials and convey the unpacked stacked body to the transfer conveying device, and the transfer conveying device is used to feed the stacked body into a packaging machine. The stacking area is used to stack materials, and the robot is used to feed the materials in the stacking area into the unpacking conveying device. A plurality of safety scanners are installed on the periphery of the stacking area. The safety scanner is connected to the robot for communication, and the robot can stop working according to the scanning results of the safety scanner. The feeding system of the present invention can accurately obtain the signal of human intrusion through the safety scanner, and stop the robot from working in time, and has high safety.

Description

Technical Field

[0001] The invention relates to the technical field of automation equipment, and in particular to a feeding system. 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 in the shape of a long strip as a whole. In order to facilitate transportation and use, multiple sheets of wrapping paper are stacked into a pile (hereinafter referred to as the main body), and then a piece of kraft paper (hereinafter referred to as the binding piece) is wrapped around the middle position of the stacked wrapping paper along the length direction to bind the multiple sheets of wrapping paper into a whole (hereinafter referred to as the material), and at the same time, the two ends of the wrapping paper along the length direction are exposed for easy distinction. When feeding the cigarette box packaging machine, the material in the material stacking area needs to be first fed into the unpacking equipment, the kraft paper is removed, and finally the stack is transported to the cigarette box packaging machine. In the prior art, in order to ensure the safety of the entire feeding process, a fence is usually installed around the feeding system. However, in this way, when a person mistakenly enters the fence, a safety hazard will still occur.

[0003] Therefore, a feeding system is urgently needed to solve the above-mentioned technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide a feeding system, which can accurately obtain a signal of a person breaking in through a safety scanner and stop the robot from working in time, thereby achieving high safety.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A feeding system, comprising:

[0007] An unpacking conveying device and a transfer conveying device, wherein the unpacking conveying device is used to remove the bundles of the materials and convey the unpacked stacked bodies to the transfer conveying device, and the transfer conveying device is used to convey the stacked bodies into the packaging machine;

[0008] A stacking area and a robot, wherein the stacking area is used for stacking materials, and the robot is used for delivering the materials in the stacking area to the unpacking and conveying device;

[0009] A plurality of safety scanners are installed on the periphery of the stacking area. The safety scanners are in communication connection with the robot, and the robot can stop working according to the scanning results of the safety scanners.

[0010] As an optional scheme, the unpacking conveying device forms a first vertical surface and a second vertical surface that are cross-arranged, and the loading system includes two safety scanners. The scanning planes of the two safety scanners are cross-arranged, and the first vertical surface, the second vertical surface and the scanning planes of the two safety scanners are arranged to form a safety area, and the safety area covers the stacking area and the activity area of ​​the robot.

[0011] As an optional solution, the feeding system also includes a D3D camera, which is used to obtain an image of the stacking area. The D3D camera is communicatively connected to the robot, and the robot can grab the material in the stacking area based on the image obtained by the D3D camera.

[0012] As an optional scheme, the front section of the transfer conveying device is used to dock with the unpacking conveying device and is located on the side of the packaging machine, the rear section of the transfer conveying device is located above the packaging machine, the front section of the transfer conveying device is spaced apart from the packaging machine, and the rear section of the transfer conveying device can transport the stacked body from top to bottom into the packaging machine.

[0013] As an optional solution, the front end of the transfer conveying device includes a first lifting mechanism, and the rear end includes a high-altitude horizontal conveying mechanism and a second lifting mechanism, the high-altitude horizontal conveying mechanism extends along the Y direction and is located above the packaging machine, the two ends of the high-altitude horizontal conveying mechanism are respectively connected to the upper end of the first lifting mechanism and the upper end of the second lifting mechanism, and the first lifting mechanism is spaced apart from the packaging machine;

[0014] The unpacking conveying device can convey the stacked body to the first lifting mechanism, and the first lifting mechanism can lift the stacked body along the Z direction. The high-altitude horizontal conveying mechanism can obtain the stacked body on the first lifting mechanism and convey the stacked body to the second lifting mechanism. The second lifting mechanism can drive the stacked body to descend along the Z direction and place it in the packaging machine.

[0015] As an optional solution, the high-altitude horizontal conveying mechanism includes:

[0016] A slideway assembly extending along the Y direction;

[0017] 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.

[0018] As an optional solution, the unpacking and conveying device includes a frame and:

[0019] The lifting mechanism comprises a lifting drive assembly and a supporting plate, wherein the lifting drive assembly can drive the supporting plate to move along the Z direction and move from top to bottom to the cutting station, the unloading station and the recycling station in sequence;

[0020] A first conveying mechanism, located at one side of the cutting station and capable of conveying the material to the supporting plate located at the cutting station along the Y direction;

[0021] a cutting mechanism, disposed at the other side of the cutting station and capable of cutting off the bundle on the material located at the cutting station;

[0022] Two supporting blocks are fixed on the frame, and the two supporting blocks can respectively penetrate the two ends of the supporting plate along the X direction, and limit the stacked body on the supporting plate to the unloading station, so that the lower surface of the stacked body can be separated from the bundling piece;

[0023] The adsorption recovery mechanism is arranged at one side of the recovery station, and the adsorption recovery mechanism can adsorb the bundles on the supporting plate located at the recovery station and transport the bundles to a recovery box.

[0024] As an optional solution, the unpacking conveying device also includes a material unloading drive mechanism and a second conveying mechanism, and the second conveying mechanism is arranged at one end of the material unloading station along the X direction. The material unloading drive mechanism can push the stacked body on the support plate at the material unloading station onto the second conveying mechanism, and then push it onto the transfer conveying device.

[0025] As an optional solution, the feeding system further includes a control unit, and the control unit includes:

[0026] A main control module and an industrial switch, wherein the industrial switch is communicatively connected with the main control module;

[0027] A servo drive module is communicatively connected to the industrial switch;

[0028] A robot control module is communicatively connected to the industrial switch;

[0029] An industrial computer, including a human-machine interface, wherein the industrial computer is communicatively connected to the industrial switch;

[0030] D visual module, connected to the industrial computer for communication;

[0031] An I / O control module, communicatively connected to the main control module;

[0032] The speed regulating motor module, the sensor detection module and the solenoid valve control module are all communicatively connected with the I / O control module.

[0033] As an optional solution, the control unit further includes a safety control module, and the servo drive module and the sensor detection module are respectively communicatively connected to the safety control module.

[0034] The beneficial effects of the present invention are:

[0035] The feeding system of the present invention is equipped with a safety scanner around the outer periphery of the stacking area without mechanical protection. The safety scanner can accurately determine whether a person has intruded into the area. When the safety scanner detects that a person has intruded, it will communicate with the robot and stop the robot from working, thereby reliably avoiding personal injury and improving the safety of the feeding system. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural diagram of the material;

[0037] Figure 2 It is a structural schematic diagram of a feeding system and a packaging machine provided in a specific embodiment of the present invention at one viewing angle;

[0038] Figure 3 This is a schematic diagram of the structure of the feeding system and packaging machine provided by the specific embodiment of the present invention from another perspective

[0039] Figure 4 It is a structural schematic diagram of an unpacking conveying device and a stacking area provided in a specific embodiment of the present invention;

[0040] 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;

[0041] Figure 6 is a schematic diagram of a support plate provided in a specific embodiment of the present invention being located at a cutting station;

[0042] Figure 7 is a schematic diagram of a support plate provided by a specific embodiment of the present invention when it is located at a recycling station at a viewing angle;

[0043] Figure 8 It is a structural schematic diagram of a lifting mechanism, a supporting block and a guide rod provided in a specific embodiment of the present invention;

[0044] Fig. 9 is a schematic diagram of a support plate provided by a specific embodiment of the present invention when it is located at a recycling station from another viewing angle;

[0045] Fig.10 It is a structural schematic diagram of a transfer and conveying device provided in a specific embodiment of the present invention;

[0046] Fig.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;

[0047] Fig.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 body;

[0048] Fig.13 It is a partial structural schematic diagram of a high-altitude horizontal conveying mechanism provided in a specific embodiment of the present invention;

[0049] Fig.14 It is a structural schematic diagram of the high-altitude horizontal conveying mechanism and the second lifting mechanism provided in a specific embodiment of the present invention;

[0050] Fig.15 is a structural schematic diagram of a second lifting mechanism provided in a specific embodiment of the present invention;

[0051] Fig.16 It is a structural schematic diagram of a transport fixture provided by a specific embodiment of the present invention;

[0052] Fig.17 It is a structural schematic diagram of a transport jig supporting a stacked body provided by a specific embodiment of the present invention;

[0053] Fig.18 is a top view of a carrier jig provided in a specific embodiment of the present invention when unloading a stack;

[0054] Fig.19 It is a schematic diagram of the communication relationship of the control unit provided in the specific implementation manner of the present invention.

[0055] In the figure:

[0056] 100, material; 101, stack; 102, bundle;

[0057] 10. Unpacking 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 claw; 1222. Gear bar; 123. Material-snapping assembly; 1231. Material-snapping drive source; 1232. Material-snapping board; 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, lateral drive assembly; 152, second suction cup assembly; 16, material discharge drive mechanism; 161, material discharge drive source; 162, material discharge push rod; 17, second conveying mechanism; 171, supporting slideway; 172, limit plate; 18, guide rod; 19, first vertical surface; 110, second vertical surface; 120, first shell;

[0058] 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. Push drive assembly; 223. Push rod assembly; 23. Second lifting mechanism; 231. Second lifting drive assembly; 232. Carrying fixture; 2321. Frame body; 23211. Back plate; 23212. Side plate; 23213. Insert gear; 2322. Tray; 23221. Tooth groove; 2323. Clamping plate assembly; 23231. Clamping cylinder; 23232. Clamping plate body; 2324. Discharge drive assembly; 24. Second shell;

[0059] 30. Stack area;

[0060] 40. Robots;

[0061] 50. Security scanner;

[0062] 60. 3D camera; 61. Mounting bracket;

[0063] 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 ​​regulating motor module; 78. Sensor detection module; 79. Solenoid valve control module; 710. Safety control module; 711. 3D vision module;

[0064] 200. Packaging machine. DETAILED DESCRIPTION

[0065] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0066] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0068] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0069] This embodiment provides a feeding system, which can be used to feed materials to the packaging machine 200. Figure 1 As shown, the material 100 includes a stack 101 and a bundle 102, wherein the stack 101 is formed by stacking a plurality of paper sheets, and the bundle 102 is bundled at the middle position of the stack 101 along the length direction, so that both ends of the stack 101 are exposed to the outside of the bundle 102. The feeding system can remove the bundle 102 of the material 100 (hereinafter referred to as unpacking), and then feed the stack 101 into the feeding end of the packaging machine 200.

[0070] like Figure 2 and Figure 3 As shown, the loading system includes a stacking area 30, a robot 40, an unpacking conveying device 10 and a transfer conveying device 20. The stacking area 30 is used to stack the materials 100 to be unpacked, and the robot 40 can sequentially feed the materials 100 in the stacking area 30 into the unpacking conveying device 10 in a preset order. The unpacking conveying device 10 can remove the bundles 102 of the materials 100, and can send the removed bundles 102 into a recycling box, and transport the unpacked stack 101 to the transfer conveying device 20. The transfer conveying device 20 is used to send the stack 101 into the packaging machine 200.

[0071] 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, and the safety is good. Preferably, a first sensor (not shown) is provided at the door body of the first shell 120 (there may 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 may 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 feeding system is further improved by the first sensor and the second sensor.

[0072] It is not convenient to set up a protective shell for the stacking area 30 and the robot 40, so there are certain safety hazards. In the prior art, the robot 40 is usually a paved industrial robot, so it is necessary to install a fence around the feeding system, but when a person enters the fence and touches the robot 40 or the material 100 in the stacking area 30, there will still be safety hazards.

[0073] In this regard, Figure 2 As shown, the feeding system also includes a plurality of safety scanners 50, which are installed on the periphery of the stacking area 30. The safety scanners 50 are connected to the robot 40 for communication. When the safety scanner 50 detects that someone has broken in, it will communicate with the robot 40 and stop the robot 40 from working, thereby reliably avoiding injury to personnel and improving the safety of the feeding system. Preferably, the feeding system also includes an alarm component, which is connected to the safety scanner 50 for communication. When the safety scanner 50 detects that someone has broken in, it will communicate with the alarm component, causing the alarm component to emit an alarm sound, prompting the mistaken intruder to pay attention and leave, and notifying the staff to verify and restart the robot 40 to work. Optionally, the safety scanner 50 is preferably a surface scanner, so that multiple safety scanners 50 can enclose a more strict area, thereby improving safety.

[0074] In this embodiment, Figure 2 As shown, the first shell 120 of the unpacking conveying device 10 is formed with a first vertical surface 19 and a second vertical surface 110 which are arranged crosswise, and the feeding system includes two safety scanners 50, and the scanning planes of the two safety scanners 50 are two horizontal fan-shaped planes, and the two horizontal fan-shaped planes are arranged crosswise, and the first vertical surface 19, the second vertical surface 110 and the scanning planes of the two safety scanners 50 are arranged to form a safety area, and the safety area covers the stacking area 30 and the activity area of ​​the robot 40. By setting the stacking area 30 at a position between the first vertical surface 19 and the second vertical surface 110, the first shell 120 of the unpacking conveying device 10 naturally forms a protection for the stacking area 30, so only two more safety scanners 50 need to be arranged to form a comprehensive protection for the stacking area 30 and the activity area of ​​the robot 40, thereby reducing the cost of the entire feeding system. In this embodiment, the two safety scanners 50 are both installed on the first shell 120 of the unpacking conveying device 10.

[0075] Optionally, the robot 40 may be a six-axis robotic arm, and the fixed end of the robot 40 is mounted on the first housing 120 of the unpacking conveying device 10, so that the output end of the robot 40 can easily grab the material 100 in the stacking area 30. Preferably, in this embodiment, the robot 40 is a collaborative six-axis robotic arm, and each joint of the six-axis robotic arm is provided with an external force detection sensor. When the external force detection sensor detects that an external force contacts the robot 40, the robot 40 can be stopped, thereby further improving the safety of the feeding system. The six-axis robotic arm with an external force detection sensor is an existing component, and its specific structural details and working principle are not repeated here.

[0076] In order to ensure that the robot 40 can grab the stacked materials 100 in the stacking area 30 in sequence according to a preset order, the prior art usually uses a 2D camera in conjunction with the 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.

[0077] In this regard, Figure 2As shown, the feeding system of this embodiment also includes a 3D camera 60, which is used to obtain images of the stacking area 30. The 3D camera 60 is connected to the robot 40 for communication, and the robot 40 can grab the material 100 in the stacking area 30 according to the image obtained by the 3D camera 60. Specifically, the 3D camera 60 collects the characteristic information of the material 100 and performs model training through a deep learning method, and the three-dimensional space coordinates corresponding to each material 100 can be accurately calculated according to the collected image. The robot 40 can place the materials 100 in the stacking area 30 into the unpacking conveying device 10 in a preset order through coordinate conversion and path planning. In this embodiment, only one component, the 3D camera 60, is required to obtain the three-dimensional image information of the stacking area 30, and the structure is simple, the installation is convenient, and the standard degree of the stacking of the material 100 is low. In addition, each layer of material 100 only needs to be photographed once to obtain the information of the entire layer of material 100, which improves the operation efficiency of the feeding system.

[0078] 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.

[0079] 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. When the rubber roller mechanism winds and pulls out the bundle 102, the bundle 102 is easy to drag the paper pieces of the stack 101 to cause displacement or disorder, thereby affecting the subsequent transportation of the stack 101.

[0080] Preferably, if Figure 4-Figure 9 As shown in the figure, the X direction and the Y direction 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 support plate 112. The lifting drive assembly 111 can drive the support 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 to the support plate 112 located at the cutting station along the Y direction. 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 to 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 releases the restraint on the stack 101. Two support blocks 14 are fixed on the frame, as shown in FIG. Figure 8 As shown, when the support plate 112 moves to the unloading station, the two support blocks 14 can respectively penetrate the two ends of the support plate 112 along the X direction and limit the stacked body 101 on the support plate 112 to the unloading station, so that the lower surface of the stacked body 101 is separated from the binding member 102. Fig. 9 As shown, the adsorption recovery mechanism 15 is arranged at one side of the recovery station along the X direction, that is, it is arranged opposite to the lifting mechanism 11. The adsorption recovery mechanism 15 can adsorb the bundles 102 on the support plate 112 located at the recovery station and transport the bundles 102 to the recovery box (not shown). The unloading drive mechanism 16 and the second conveying mechanism 17 are respectively arranged at both ends of the unloading station along the X direction. The unloading drive mechanism 16 can push the stacked body 101 on the support plate 112 located at the unloading station onto the second conveying mechanism 17.

[0081] 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 bundle 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.

[0082] The unpacking conveying device 10 of this embodiment, through the setting of the lifting mechanism 11, makes the cutting of the strapping pieces 102 and the recovery of the strapping pieces 102 staggered in the upper and lower spaces, so that there is space to set the adsorption recovery mechanism 15 on the side of the strapping pieces 102, and remove the strapping pieces 102 and recover 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 recovery of the strapping pieces 102; in addition, by setting a supporting block 14 at the unloading station, when the adsorption recovery mechanism 15 adsorbs the strapping pieces 102, the lower end of the strapping pieces 102 and the stacking body 101 are completely separated, so the strapping pieces 102 will not be dragged to the stacking body 101, avoiding position movement or dislocation of the stacking body 101.

[0083] like Figure 5 As shown, the first conveying mechanism 12 includes a first conveying belt 121, and the first conveying belt 121 can drive the material 100 to move along the Y direction. Specifically, the first conveying 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 to move along the Y direction. The first conveying belt 121 uses a speed regulating motor to adjust the rotation speed of the belt as needed, thereby adjusting the conveying speed of the material 100.

[0084] 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 conveying mechanism 12 also includes a material-shooting component 123 arranged on one side of the first conveyor belt 121 along the Y direction, and the material-shooting component 123 includes a material-shooting driving source 1231 and a material-shooting plate 1232. The material-shooting driving source 1231 can drive the material-shooting plate 1232 to move along the X direction and collide with the material 100 on the first conveyor belt 121. The material-shooting component 123 contacts the surface of the material 100 perpendicular to the X direction, so as to correct the position deviation of the material 100 in the X direction, ensure that the material 100 falls on the supporting plate 112 located at the cutting station with an accurate posture, and then ensure the smooth cutting. In this embodiment, the material-shooting component 123 is arranged at one end of the first conveyor belt 121 close to the cutting station, that is, when the material 100 is about to reach the cutting station, the material 100 is corrected. Specifically, the material-shooting driving source 1231 can be a cylinder, which has high material-shooting accuracy and is easy to control. Furthermore, the material-beating assembly 123 also includes a first solenoid valve, which is used to control the extension or retraction action of the cylinder.

[0085] Preferably, if Figure 5 and Figure 6As shown, the first conveying mechanism 12 further includes a stopper assembly 122, wherein the stopper assembly 122 is arranged at one end of the first conveyor belt 121 along the Y direction, and the stopper assembly 122 has a first state of stopping the material 100 at the end of the first conveyor belt 121 and a second state of avoiding the material 100 from moving from the first conveyor belt 121 to the support plate 112. The stopper assembly 122 stops the surface of the material 100 perpendicular to the Y direction, and the position difference of the material 100 along the Y direction can be corrected. The coordination of the material-snapping assembly 123 and the stopper assembly 122 can ensure the overall position accuracy of the material 100 before reaching the cutting station, thereby ensuring the position accuracy of the material 100 when it reaches the support plate 112 located at the cutting station.

[0086] Preferably, in actual use, the stopper assembly 122 switches from the first state to the second state after stopping at least two materials 100. When the stopper assembly 122 switches from the first state to the second state, the stopper assembly 122 avoids the movement of the material 100 along the Y direction. At this time, the first conveyor belt 121 drives all the materials 100 to move along the Y direction. For the first material 100, when a part of it leaves the first conveyor belt 121, the material 100 behind will generate a forward driving force on the first material 100 until the first material 100 completely falls on the support plate 112 located at the cutting station. In this embodiment, by controlling the timing of switching the stopper assembly 122 to the second state, the material 100 behind generates a driving force on the first material 100, ensuring that the first material 100 can accurately fall on the support plate 112, thereby ensuring that the subsequent cutting is carried out smoothly. Specifically, in this embodiment, during operation, the stop assembly 122 first moves to the first state capable of stopping the material 100, and then the first conveyor belt 121 conveys the material 100 to 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, and 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 there is material 100 reaching the support plate 112 at the cutting station. When the first position sensor detects that the material 100 has reached the support plate 112, the first conveyor belt 121 stops conveying after a preset delay time. The delay time is to ensure that the material 100 falls completely on the support plate 112.

[0087] In this embodiment, Figure 6As shown, the stopper assembly 122 includes a wide air gripper 1221 and two shift rods 1222, wherein the wide air gripper 1221 is fixed on the frame, and the two shift 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 direction, and can approach or move away from each other along the X direction. When the two output ends of the wide air gripper 1221 approach each other, the two shift rods 1222 approach each other and reach a position where the material 100 can be stopped, that is, the stopper assembly 122 reaches the first state; when the two output ends of the wide air gripper 1221 move away from each other, the two shift rods 1222 move away from each other, so as to avoid the material 100 from moving from the first conveyor belt 121 to the supporting plate 112 along the Y direction, that is, the stopper assembly 122 reaches the second state. Specifically, the stopper assembly 122 also includes a second solenoid valve, which is used to control the extension and retraction of the output end of the wide air gripper 1221.

[0088] 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 conveying belt 121 after the first conveying belt 121 conveys the previous material 100 (i.e., the first material 100) to the supporting 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, 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 on the frame, and the output end is set 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 pressing 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 action timing of the first pressing assembly 124 is: when the first position sensor detects that the material 100 has arrived on the supporting plate 112, the first pressing assembly 124 stops conveying after a preset time delay, that is, the pressing action of the first pressing assembly 124 is performed simultaneously with the stopping of the first conveyor belt 121.

[0089] When the material 100 accurately reaches the support plate 112 located at the cutting station, 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, so that a certain gap can be generated 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 drive the first side surface away from the stack 101 along the Y direction, so as to further increase the gap between the bundle 102 and the stack 101, and at this time, the cutting assembly 133 can output to move along the X direction and 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 will not be damaged during the process of cutting the binding piece 102 .

[0090] Preferably, in this embodiment, if Figure 7 As shown, the cutting mechanism 13 includes two first suction cup assemblies 132, the two first suction cup assemblies 132 are spaced apart in the Z direction, and the cutting assembly 133 is arranged between the two groups 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 just aligned to the position where the gap between the bundle 102 and the stack 101 is the largest, thereby further preventing the cutting assembly 133 from damaging the stack 101.

[0091] 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 on the frame, and the output end of the second pressing cylinder 1311 is set downward, and 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 on 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 also 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 vacuum or break vacuum. The cutting assembly 133 includes a cutting cylinder and a cutting knife, wherein the cutting cylinder is fixed on 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. In the process of the cutting cylinder driving the cutting knife to move along the X direction, the first side surface of the strapping 102 is cut off along the X direction. In this embodiment, the cutting assembly 133 also includes a seventh solenoid valve, and the seventh solenoid valve is used to control the extension and retraction of the cutting cylinder.

[0092] 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.

[0093] 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 supporting 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.

[0094] Preferably, if Figure 8As shown, the supporting block 14 is fixed on the frame, and avoidance holes 1121 are respectively provided at both ends of the supporting plate 112 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.

[0095] Preferably, if Figure 8 As shown, the unpacking conveying device 10 further includes a plurality of guide rods 18, which are arranged on the frame and extend along the Z direction. The guide rods 18 are arranged on both sides of the supporting plate 112 along the X direction, so as to limit the stacked bodies 101 on the supporting plate 112 when the supporting plate 112 is lifted or lowered, thereby preventing the stacked bodies 101 from being offset or misaligned during the lifting process, thereby ensuring that the stacked bodies 101 can be smoothly driven by the unloading driving mechanism 16 to the second conveying mechanism 17. In this embodiment, four guide rods 18 are arranged, two of which are arranged on one side of the supporting plate 112 along the X direction, and the other two are arranged on the other side of the supporting 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.

[0096] like Figure 8-Figure 9 As shown, the adsorption recovery mechanism 15 is arranged opposite to the lifting drive assembly 111, and the adsorption recovery mechanism 15 includes a transverse driving assembly 151 and a second suction cup assembly 152. The transverse driving 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, and the second side surface is a surface arranged opposite to the first side surface. The transverse driving 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.

[0097] 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 a vacuum.

[0098] After 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 support plate 112 is flush with the upper surface of the support block 14. At this time, the support plate 112 and the support block 14 jointly support the stack 101. Preferably, the support plate 112 is also provided with a first groove 1122 extending along the X direction, such as Fig. 9 As shown, the material unloading driving mechanism 16 includes a material unloading driving source 161 and a material unloading push rod 162. The material unloading driving source 161 can drive the material unloading push rod 162 to move along the X direction, and the lower end of the material unloading push rod 162 can extend into the first groove 1122. Since the stack 101 is formed by stacking multiple paper sheets, by inserting the lower end of the material unloading push rod 162 into the first groove 1122, the material unloading push rod 162 can fully contact all the paper sheets of the stack 101, thereby ensuring that in the process of pushing the stack 101 to the second conveying mechanism 17, the paper sheets at the bottom layer can also move together. In this embodiment, a second groove 141 matching the position of the first groove 1122 is provided on the support block 14, and the provision of the second groove 141 enables the material unloading push rod 162 to move smoothly along the X direction.

[0099] In this embodiment, the material unloading driving source 161 can be a linear module, specifically, the material unloading driving source 161 includes a second servo motor and a second transmission assembly, and the material 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 a linear motion along the X direction, thereby pushing the stack 101 onto the second conveying mechanism 17, and the material unloading driving source 161 can continue to drive the stack 101 to move on the second conveying mechanism 17 along the X direction until the stack 101 is pushed from the second conveying mechanism 17 to the transfer conveying device 20.

[0100] In this embodiment, Figure 7As shown, the second conveying mechanism 17 includes a supporting slide 171 and two limiting plates 172. The supporting slide 171 extends along the X direction, and the two limiting plates 172 are respectively located on both sides of the supporting slide along the X direction. The unloading driving source 161 can drive the unloading push rod 162 to push the stacking body 101 from the supporting plate 112 located at the unloading station to the supporting slide 171, and then continue to push the stacking body 101 from the supporting slide 171 to move to the transfer conveying device 20. The two limiting plates 172 can limit the stacking body 101 to prevent the stacking body 101 from position deviation 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.

[0101] Generally, in order to facilitate the operation and maintenance of the packaging machine 200 by the staff, it is required that other structures should not be placed close to the packaging machine 200, even if a certain space is left around the packaging machine 200. As a result, the path for conveying the stack 101 to the packaging machine 200 may be relatively tortuous, and the transfer conveying device 20 in the prior art occupies a large area of ​​the factory building, which is not conducive to the layout of the entire factory building.

[0102] In this regard, preferably, Figure 1 and Figure 2 As shown, the transfer conveying device 20 includes a front section and a rear section, wherein the front section of the transfer conveying device 20 is used to dock with the unpacking conveying device 10, 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 20 is located above the packaging machine 200, and the rear section can convey the stacked body 101 from top to bottom into the packaging machine 200. By arranging the front section of the transfer conveying device 20 at a distance from the packaging machine 200 and the rear section conveying the stacked body 101 from top to bottom into the packaging machine 200, on the one hand, it is ensured that there is an area for the staff to operate around the packaging machine 200, meeting the use requirements of the packaging machine 200; on the other hand, the rear section of the transfer conveying device 20 is arranged above the packaging machine 200, which makes full use of the space above the packaging machine 200, thereby reducing the floor space of the transfer conveying device 20, which is beneficial to the layout of the factory.

[0103] Specifically, Figure 1 and Fig.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, and the two ends of the overhead horizontal conveying mechanism 22 are respectively docked with the upper end of the first lifting mechanism 21 and the upper end of the second lifting mechanism 23. 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, and 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 between the first lifting mechanism 21 and the second conveying mechanism 17 , the first lifting mechanism 21 is disposed in the first shell 120 of the unpacking and conveying device 10 .

[0104] Preferably, if Fig.10 and Fig.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 a linear motion along the Z direction.

[0105] 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, when the belt conveys the stack 101, the belt only applies force to the bottom layer of paper sheets, while the upper layer of paper sheets advances through 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 when entering the packaging machine 200 due to excessive misalignment.

[0106] like Figure 11-13As shown, the high-altitude horizontal conveying mechanism 22 includes a slideway assembly 221, a push drive assembly 222 and a push rod assembly 223. The slideway 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 can sequentially complete: pushing the stacked body 101 from the first lifting mechanism 21 to the slideway assembly 221, moving the stacked body 101 along the slideway assembly 221, and pushing the stacked body 101 on the slideway assembly 221 to the second lifting mechanism 23. In this embodiment, through the cooperation of the slideway assembly 221, the push drive assembly 222 and the push rod assembly 223, not only the transfer of the stacked body 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 realized, but also the transportation of the stacked body 101 in the high-altitude horizontal conveying mechanism 22 is realized. In addition, compared with the existing method of horizontal conveying by belts, 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 sheets in the stacking body 101, thereby avoiding the problem of misalignment of each layer of paper sheets in the stacking body 101 during the conveying process.

[0107] In this embodiment, the push drive assembly 222 can be a linear module. Specifically, the push 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.

[0108] Preferably, if Fig.12 and Fig.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 with the paper sheet at the bottom layer 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 cooperate with the two second slots 213 respectively. 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.

[0109] Preferably, if Fig.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, and 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 with the paper sheet at the bottom layer of the stack 101 and provide a force, ensuring that the paper sheet at the bottom layer can also be smoothly pushed onto the slide body 2211. In this embodiment, the number of the second slots 213 is consistent with the number of the 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 collinear.

[0110] Preferably, if Fig.13 As shown, the upper surface of the slide body 2211 is configured in a wave shape along its width direction. The wave shape is composed of multiple arcs, which reduces the contact area between the slide body 2211 and the stack 101, thereby reducing the friction force of the slide body 2211 on the stack 101, making the stack 101 move more smoothly on the slide body 2211.

[0111] Preferably, if Fig.12 As shown, the slide assembly 221 further includes baffles 2212, which are arranged 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 to prevent the stack 101 from having position deviation along the X direction. In this embodiment, the push rod assembly 223 is formed by connecting multiple sections of rods, so that the push rod assembly 223 can extend from the outer side of the baffle 2212 to the inner side of the baffle 2212.

[0112] Preferably, the slide assembly 221 further includes a shield 2213, which is provided on 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 when a high-altitude horizontal conveying device fails. The specific opening method of the shield 2213 can be driven by an electric push rod, which is not specifically limited here.

[0113] 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.

[0114] 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.

[0115] In this embodiment, as Figure 16-18 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 limitation of the position of the stack 101 in the Y direction.

[0116] Preferably, as Fig.17 and Fig.18As shown, the carrier 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 stacked body 101 along the X direction, so as to correct the position and posture of the stacked body 101 on the tray 2322 along the X direction, and ensure that the stacked body 101 finally enters the packaging machine 200 with 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 stacked body 101. Preferably, the clamping plate assembly 2323 also 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.

[0117] Preferably, if Figure 16-18 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 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. 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 Fig.14 As shown, the feeding end can be 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 support of the carrier fixture 232, so that it will fall on the feeding end of the packaging machine 200, thereby realizing the automatic unloading of the carrier fixture 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.

[0118] Preferably, if Fig.16As shown, the tray 2322 is provided with a tooth groove 23221 extending along the Y direction, and a tooth 23213 is provided on the side of the frame body 2321 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 being held, thereby ensuring that all the paper pieces of the stack 101 fall into the feeding end of the packaging machine 200 at an accurate position. Optionally, as Fig.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.

[0119] Preferably, if Fig.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. Fig.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 regulating motor module 77, a speed regulating motor module 77, a sensor detection module 78, and a solenoid valve control module 79. Among them, the industrial switch 72 is connected to the main control module 71 for communication, and the servo drive module 73 is connected to the industrial switch 72 for communication. The robot control module 74 is connected to the industrial switch 72 for communication. The industrial computer 75 is connected to the industrial switch 72 for communication, and the industrial computer 75 includes a human-machine interface 751. The 3D vision module 711 is connected to the industrial computer 75 for communication. The I / O control module 76 is connected to the main control module 71 for communication, and the speed regulating motor module 77, the sensor detection module 78, and the solenoid valve control module 79 are all connected to the I / O control module 76 for communication.

[0120] In this embodiment, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the fifth servo motor are all electrically connected to the servo drive module 73. The main control module 71 realizes signal transmission with the servo drive module 73 through the industrial switch 72, thereby realizing control of the above five servo motors. Specifically, the main control module 71 and the industrial switch 72 communicate through the EtherCAT protocol, and the industrial switch 72 and the servo drive module 73 communicate through the EtherCAT protocol.

[0121] In this embodiment, the robot 40 is electrically connected to the robot control module 74, and the main control module 71 transmits signals to the robot control module 74 through the industrial switch 72, thereby controlling the movement of the robot 40. Specifically, the industrial switch 72 communicates with the servo drive module 73 through the EtherNet / IP protocol.

[0122] In this embodiment, the human-machine interface 751 is used by the staff to select and operate the operation of the entire feeding system. The main control module 71 realizes signal transmission with the human-machine interface 751 through the industrial switch 72, so that the feeding system executes the staff's operation. The industrial switch 72 communicates with the industrial computer 75 through the ModbusTCP protocol, and then communicates with the human-machine interface 751.

[0123] In this embodiment, the 3D camera 60 is electrically connected to the 3D vision module 711. The main control module 71 sequentially transmits signals with the 3D vision module 711 through the industrial switch 72 and the industrial computer 75, thereby controlling the 3D camera 60. Specifically, the industrial computer 75 and the 3D vision module 711 communicate via the TCP / IP protocol.

[0124] 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 through the I / O control module 76, thereby controlling the speed regulating motor. The main control module 71 and the I / O control module 76 communicate via the EtherCAT protocol.

[0125] 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. The main control module 71 realizes signal transmission with the sensor detection module 78 through the I / O control module 76, thereby realizing control of each sensor.

[0126] 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 through the I / O control module 76, thereby controlling each solenoid valve.

[0127] Preferably, the control unit 70 further includes a safety control module 710, and the servo drive module 73 and the sensor detection module 78 are respectively connected to the safety control module 710. That is, the servo drive module 73 communicates with the main control module 71 through two lines, the safety control module 710 and the industrial switch 72, respectively, to improve the safety of the operation of each servo motor. Similarly, the sensor detection module 78 communicates with the main control module 71 through two lines, the I / O control module 76 and the safety control module 710, respectively, to improve the safety of the operation of each sensor.

[0128] Preferably, the packaging machine 200 includes a packaging machine control cabinet, which is communicatively connected to the I / O control module 76, and further realizes communication with the main control module, so that the feeding system can feed materials according to the needs of the packaging machine.

[0129] Obviously, the above embodiments of the present invention are only examples for clearly explaining the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope, and the content of this specification should not be understood as limiting the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A feeding system, characterized in that: include: An unpacking conveying device (10) and a transfer conveying device (20), wherein the unpacking conveying device (10) is used to remove the bundles (102) of the material (100) and to convey the unpacked stack (101) to the transfer conveying device (20), and the transfer conveying device (20) is used to convey the stack (101) into the packaging machine (200); A stacking area (30) and a robot (40), wherein the stacking area (30) is used to stack materials (100), and the robot (40) is used to deliver the materials (100) in the stacking area (30) into the unpacking conveying device (10); A plurality of safety scanners (50) are installed on the periphery of the stacking area (30), the safety scanners (50) are in communication connection with the robot (40), and the robot (40) can stop working according to the scanning results of the safety scanners (50); The unpacking conveying device (10) forms a first vertical surface (19) and a second vertical surface (110) which are arranged crosswise, the loading system comprises two safety scanners (50), the scanning planes of the two safety scanners (50) are arranged crosswise, the first vertical surface (19), the second vertical surface (110) and the scanning planes of the two safety scanners (50) are arranged to form a safety area, and the safety area covers the stacking area (30) and the activity area of ​​the robot (40); The unpacking and conveying device (10) comprises a frame and: The lifting mechanism (11) comprises a lifting drive assembly (111) and a supporting plate (112), wherein the lifting drive assembly (111) can drive the supporting plate (112) to move along the Z direction and move sequentially from top to bottom to a cutting station, a material unloading station and a recycling station; A first conveying mechanism (12) is located at one side of the cutting station and is capable of conveying the material (100) along the Y direction to the supporting plate (112) located at the cutting station; a cutting mechanism (13), arranged at the other side of the cutting station and capable of cutting the bundle (102) on the material (100) located at the cutting station; Two supporting blocks (14) are fixed on the frame, and the two supporting blocks (14) can respectively penetrate the two ends of the supporting plate (112) along the X direction, and limit the stacking body (101) on the supporting plate (112) at the unloading station so that the lower surface of the stacking body (101) can be separated from the binding piece (102); An adsorption recovery mechanism (15) is arranged at one side of the recovery station, and the adsorption recovery mechanism (15) is capable of adsorbing the bundle (102) on the supporting plate (112) located at the recovery station and transporting the bundle (102) to a recovery box.

2. The feeding system according to claim 1, characterized in that: The feeding system further comprises a 3D camera (60), wherein the 3D camera (60) is used to obtain an image of the stacking area (30), the 3D camera (60) is communicatively connected to the robot (40), and the robot (40) is capable of grabbing the material (100) in the stacking area (30) based on the image obtained by the 3D camera (60).

3. The feeding system according to any one of claims 1 to 2, characterized in that: The front section of the transfer conveying device (20) is used to dock with the unpacking conveying device (10) and is located on the side of the packaging machine (200), and the rear section of the transfer conveying device (20) is located above the packaging machine (200). The front section of the transfer conveying device (20) is spaced apart from the packaging machine (200), and the rear section of the transfer conveying device (20) can convey the stacking body (101) from top to bottom into the packaging machine (200).

4. The feeding system according to claim 3, characterized in that: The front end of the transfer conveying device (20) includes a first lifting mechanism (21), and the rear end includes 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 is located above the packaging machine (200); the two ends of the high-altitude horizontal conveying mechanism (22) 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) and the packaging machine (200) are arranged at a distance; The unpacking conveying device (10) can convey the stacking body (101) to the first lifting mechanism (21); the first lifting mechanism (21) can lift the stacking body (101) along the Z direction; the high-altitude horizontal conveying mechanism (22) can obtain the stacking body (101) on the first lifting mechanism (21) and convey the stacking body (101) to the second lifting mechanism (23); the second lifting mechanism (23) can drive the stacking body (101) to descend along the Z direction and place it in the packaging machine (200).

5. The feeding system according to claim 4, characterized in that: 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 complete the tasks of pushing the stacking body (101) from the first lifting mechanism (21) to the slide assembly (221), pushing the stacking body (101) to move along the slide assembly (221), and pushing the stacking body (101) on the slide assembly (221) to the second lifting mechanism (23).

6. The feeding system according to any one of claims 1 to 2, characterized in that: The unpacking conveying device (10) further comprises a material unloading drive mechanism (16) and a second conveying mechanism (17), wherein the second conveying mechanism (17) is arranged at one end of the material unloading station along the X direction, and the material unloading drive mechanism (16) can push the stacking body (101) on the supporting plate (112) at the material unloading station onto the second conveying mechanism (17), and then push it onto the transfer conveying device (20).

7. The feeding system according to any one of claims 1 to 2, characterized in that: The feeding system further comprises a control unit (70), wherein the control unit (70) comprises: A main control module (71) and an industrial switch (72), wherein the industrial switch (72) is communicatively connected to the main control module (71); A servo drive module (73) is communicatively connected to the industrial switch (72); A robot control module (74) is communicatively connected to the industrial switch (72); An industrial control computer (75) includes a human-machine interface (751), and the industrial control computer (75) is communicatively connected to the industrial switch (72); A 3D vision module (711) is communicatively connected to the industrial computer (75); An I / O control module (76) is communicatively connected to the main control module (71); The speed regulating 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).

8. The feeding system according to claim 7, characterized in that: The control unit (70) further comprises a safety control module (710), and the servo drive module (73) and the sensor detection module (78) are respectively communicatively connected to the safety control module (710).

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