Automatic cable rubber raw material feeding system

Abstract

The present application relates to a kind of cable rubber raw material automatic feeding system, including sub-plate area, warehouse area and feeding area, AGV trolley is equipped in warehouse area, AGV trolley moves between sub-plate area, warehouse area and feeding area, sub-plate area includes truss, tray manipulator, tray clamp, roller conveyor, mother plate temporary storage area, sub-plate temporary storage area, jacking device and feeding area, jacking device is set in one end of roller conveyor, mother plate temporary storage area is set in the other end of roller conveyor, sub-plate temporary storage area is set in one side of mother plate temporary storage area, feeding area is set in one side of jacking device, truss is set above mother plate temporary storage area, tray manipulator is set in the top of truss, tray clamp is set in the front end of tray manipulator, the side of feeding area is equipped with the detection device for detecting the position and shape size of material.This scheme realizes the automatic production of raw material feeding and storage, reduces the labor cost, improves work efficiency.

Description

Technical Field

[0001] This invention relates to the field of material processing, and in particular to an automatic feeding system for cable sheath raw materials. Background Technology

[0002] Currently, the raw materials used in cable insulation production are bagged powder or granules. Depending on the cable application, the required insulation properties vary, leading to diverse raw material formulations. Due to the irregularity of bagged powder or granules, their dust-generating properties, and the constantly changing formulations, materials are mostly manually transported to the material tank on pallets, then bagged one by one to the tank's feeding port. The bags are then cut open with a utility knife or other tools for feeding. After feeding, workers must collect the pallets and waste bags. In today's rapidly developing industrial production, which emphasizes automation and intelligence, and with increasing emphasis on worker health, traditional production methods—characterized by high labor intensity, low efficiency, and negative impacts on worker well-being—are uncompetitive in the market, and such enterprises are easily eliminated. Summary of the Invention

[0003] This invention provides an automatic feeding system for cable insulation raw materials, which aims to solve the problems of low processing efficiency and high cost in the existing production process of insulation rubber.

[0004] This invention provides an automatic feeding system for cable sheathing raw materials, including a tray distribution area for providing and recovering master trays and daughter trays, a storage area for storing materials, and a feeding area. An AGV (Automated Guided Vehicle) is installed in the storage area, moving between the tray distribution area, storage area, and feeding area. The tray distribution area includes a truss, a pallet robot, a pallet clamp, a roller conveyor belt, a master tray temporary storage area, a daughter tray temporary storage area, a lifting device, and a feeding area. The lifting device is located at one end of the roller conveyor belt, the master tray temporary storage area is located at the other end of the roller conveyor belt, the daughter tray temporary storage area is located on one side of the master tray temporary storage area, and the feeding area is located on one side of the lifting device. The truss is located above the master tray temporary storage area, the pallet robot is located at the top of the truss, and the pallet clamp is located at the front end of the pallet robot. A detection device for detecting the placement position and dimensions of the materials is provided on one side of the feeding area.

[0005] As a further improvement of the present invention, a recycling rack is provided on one side of the roller conveyor belt for placing empty mother trays or daughter trays transported back from the feeding area.

[0006] As a further improvement of the present invention, the top two sides of the truss are provided with chain conveyor belts, the two ends of the mounting frame are respectively connected to the chain conveyor belts, the pallet robot is mounted on the mounting frame, the pallet robot moves in the horizontal direction, the front end of the pallet robot is provided with a lifting cylinder, and the pallet clamp is connected to the piston rod of the lifting cylinder.

[0007] As a further improvement of the present invention, the pallet clamp includes a fixed frame, a fixed plate, a pressing mechanism, two alignment mechanisms, and two clamping mechanisms. The fixed plate is disposed in the middle of the fixed frame and is connected to the piston rod of the lifting cylinder. The two alignment mechanisms are symmetrically disposed on both sides of the fixed frame, and the two clamping mechanisms are symmetrically disposed at both ends of the bottom of the fixed frame. The clamping mechanism is provided with a hook plate that moves in the x-direction, and the alignment mechanism is provided with an alignment plate that moves in the y-direction. The alignment mechanism further includes a first cylinder mounting plate and an alignment cylinder. One end of the first cylinder mounting plate is connected to one side of the fixed frame, and the alignment cylinder is disposed on the first cylinder mounting plate. The alignment plate is vertically connected to the piston rod of the alignment cylinder. At the front end, the clamping mechanism further includes a second cylinder mounting plate, a clamping cylinder, and a sliding structure. The second cylinder mounting plate is disposed at the bottom of the fixed frame, the clamping cylinder is disposed on the second cylinder mounting plate, the sliding structure is disposed at the bottom of the fixed frame, the piston rod of the clamping cylinder is connected to the sliding structure, and the hook plate is disposed on the sliding structure and moves horizontally on the sliding structure. The pressing mechanism includes a pressing cylinder, a pressing block, and a third cylinder mounting plate. The third cylinder mounting plate is vertically connected to the fixed frame and is disposed close to the fixed plate. The pressing cylinder is disposed on the third cylinder mounting plate, one end of the pressing block is connected to the piston rod of the pressing cylinder, and the pressing block is disposed with its front facing down.

[0008] As a further improvement of the present invention, the sub-pallet area also includes an electric forklift and an electrical control box. The electric forklift is placed in the sub-pallet temporary storage area, and the electrical control box is located on the side near the roller conveyor belt. The electrical control box communicates with the electric forklift, the roller conveyor belt, the chain conveyor belt, and the lifting cylinder.

[0009] As a further improvement of the present invention, the storage area includes AGV trolleys, AGV charging piles, several storage racks and storage railings. The storage railings are set on one side of the storage area, the several storage racks are arranged horizontally in sequence in the storage area, the AGV charging piles are set on one side of the storage racks, and the AGV trolleys are parked near the AGV charging piles.

[0010] As a further improvement of the present invention, the feeding area includes a material bag recycling conveyor belt, a feeding area shelf, a feeding robot, a sliding frame, a feeding clamp, and a bag breaking mechanism. The bottom of the feeding robot is slidably connected to the sliding frame, and the feeding robot moves horizontally on the sliding frame. The feeding clamp is set at the front end of the feeding robot. The material bag recycling conveyor belt is placed on one side of the sliding frame, and the bag breaking mechanism is placed on one side of the material bag recycling conveyor belt. The feeding area shelf is placed on the other side of the sliding frame, and the feeding area shelf is docked with the AGV trolley.

[0011] As a further improvement of the present invention, the feeding fixture includes a rotary cylinder, a support, a clamping structure, an active rotary structure, a driven rotary structure, and a clamping structure. The rotary cylinder is disposed on one side of the support. The active rotary structure is connected to the rotary cylinder, and the driven rotary structure is connected to the active rotary structure. The active rotary structure and the driven rotary structure rotate synchronously. The clamping structure is disposed on the driven rotary structure. The clamping structure is provided at the bottom of the support. The support includes a top plate, a left vertical plate, and a right vertical plate. One end of the left vertical plate is perpendicularly connected to one end of the top plate, and one end of the right vertical plate is perpendicularly connected to the other end of the top plate. The rotary cylinder is disposed on one side of the left vertical plate. The active rotary structure includes an active shaft, a first fixed plate, an active gear, and a coupling. One end of the first fixed plate is perpendicularly connected to the bottom of the top plate and is disposed near the left vertical plate. The coupling is disposed on the output shaft of the rotary cylinder. One end of the active shaft is connected to the coupling, and the other end of the active shaft is connected to the right vertical plate. The active gear is disposed on the active shaft. The driven rotation structure includes a driven shaft, a second fixed plate, a third fixed plate, and a driven gear. The second fixed plate is disposed on the left upright plate, and the third fixed plate is disposed on the right upright plate. One end of the driven shaft is connected to the second fixed plate, and the other end of the driven shaft is connected to the third fixed plate. The driven shaft is parallel to the driving shaft. The driven gear is disposed on the driven shaft, and the driving gear meshes with the driven gear. The clamping structure includes a first clamping block, a second clamping block, a first clamping jaw, and a second clamping jaw. One end of the first clamping block is disposed on the driving shaft, and the top of the first clamping jaw is connected to the other end of the first clamping block. One end of the second clamping block is disposed on the driven shaft, and the top of the second clamping jaw is connected to the other end of the second clamping block. The first and second clamping jaws are symmetrically arranged. The clamping structure includes a pressure plate, a stud, a spring, and two mounting plates. The two mounting plates are symmetrically arranged on the left and right vertical plates, respectively. One end of the stud is connected to the mounting plate, and the other end of the stud is connected to the pressure plate. The pressure plate is horizontally placed below the active rotating structure and the driven rotating structure. The spring is provided on the stud. The top two sides of the top plate are connected to bag-removing plates for removing material bags. The top of the top plate is provided with a flange, which is connected to the front end of the feeding robot.

[0012] As a further improvement of the present invention, the bag-breaking mechanism includes a frame, a hollow-structured cover, a bag-cutting mechanism, a first transition member, a second transition member, a vibrating screen, and a material tank. The material tank is fixed to one side of the frame, the cover is disposed on the top of the frame, and an opening is provided on one side of the cover. The bag-cutting mechanism is disposed at the opening of the cover. The vibrating screen is disposed on the frame. The top of the first transition member communicates with the bottom of the cover, and the bottom of the first transition member communicates with the inlet of the vibrating screen. The opening of the material tank is located below the vibrating screen. The top of the second transition member communicates with the outlet of the vibrating screen, and the bottom of the second transition member communicates with the opening of the material tank. The bag-cutting mechanism also includes a motor bracket, a speed-regulating motor, two bearing seats, a rotating shaft, and a fixing block. The motor bracket is fixed to one side of the frame, the speed-regulating motor is mounted on the motor bracket, the two bearing seats are respectively mounted on both sides of the cover, the rotating shaft passes through the cover, and both ends of the rotating shaft are respectively connected to the two bearing seats. One end of the rotating shaft is connected to the output shaft of the speed-regulating motor via a coupling. The fixing block is located in the middle of the rotating shaft, and the cutter is mounted on the fixing block. A support plate is provided on one side of the top of the frame, and a cutting groove is provided at one end of the support plate. The cutter is placed in the cutting groove, and an exhaust vent is provided on the top of the cover.

[0013] As a further improvement of the present invention, the feeding area shelf is equipped with a vision system that communicates with the feeding robot, for capturing and transmitting material location information.

[0014] The beneficial effects of this invention are: This solution integrates the intelligent components necessary for industrial production, and connects the various components through the 5G network and server deployed on site, so that each component can perform actions according to the program settings, realize the automated production of raw material feeding and storage, reduce labor costs, and improve work efficiency. Attached Figure Description

[0015] Figure 1 This is an overall diagram of the invention;

[0016] Figure 2 This is an overall diagram of the panel area of ​​the present invention;

[0017] Figure 3 This is an overall view of the storage area of ​​this invention;

[0018] Figure 4 This is an overall view of the feeding area of ​​the present invention;

[0019] Figure 5 This is a top view of the feeding area of ​​the present invention;

[0020] Figure 6 This is an overall view of the pallet clamp of the present invention;

[0021] Figure 7 This is an overall drawing of the feeding fixture of the present invention;

[0022] Figure 8 This is an overall diagram of the bag-breaking mechanism of the present invention.

[0023] Attached reference numerals: 1-Distribution area, 2-Storage area, 3-Feeding area, 4-AGV trolley, 5-Gantry, 6-Pallet robot, 7-Roller conveyor belt, 8-Mother tray temporary storage area, 9-Daughter tray temporary storage area, 10-Lifting device, 11-Feeding area, 12-Detection device, 13-Mounting frame, 14-Chain conveyor belt, 15-Recycling rack, 16-Electric forklift, 17-Electrical control box, 18-Storage fence, 19-AGV charging pile, 20-Storage rack, 21-Bag breaking mechanism, 22-Feeding robot, 23-Feeding area rack, 24-First transition component, 25-Vision system, 26-Bag recycling conveyor belt 27-Sliding frame, 28-Fixed frame, 29-Fixed plate, 30-First cylinder mounting plate, 31-Alignment cylinder, 32-Alignment plate, 33-Clamping cylinder, 34-Hook plate, 35-Third cylinder mounting plate, 36-Pressure cylinder, 37-Pressure block, 38-Rotating cylinder, 39-Top plate, 40-Left vertical plate, 41-Right vertical plate, 42-Pressure plate, 43-First clamping block, 44-First clamping claw, 45-Flange, 46-Bag removal plate, 47-Frame, 48-Material tank, 49-Machine cover, 50-Exhaust vent, 51-Speed-regulating motor, 52-Cutter, 53-Rotating shaft, 54-Panel, 55-Vibrating screen. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0025] like Figure 1-8As shown, this invention provides an automatic feeding system for cable sheathing raw materials, including a tray distribution area 1 for providing and recovering mother and daughter reels, a storage area 2 for storing materials, and a feeding area 3. An AGV trolley 4 is provided in the storage area 2, and the AGV trolley 4 moves between the tray distribution area 1, the storage area 2, and the feeding area 3. The tray distribution area 1 includes a truss 5, a pallet robot 6, a pallet clamp, a roller conveyor belt 7, a mother reel temporary storage area 8, a daughter reel temporary storage area 9, a lifting device 10, and a feeding area 11. The lifting device 10 is located in the... At one end of the roller conveyor belt 7, the mother tray temporary storage area 8 is located at the other end of the roller conveyor belt 7, the daughter tray temporary storage area 9 is located on one side of the mother tray temporary storage area 8, the loading area 11 is located on one side of the lifting device 10, the truss 5 is located above the mother tray temporary storage area 8, the pallet robot 6 is located at the top of the truss 5, the pallet clamp is located at the front end of the pallet robot 6, and a detection device 12 for detecting the position and dimensions of the material is provided on one side of the loading area 11.

[0026] As an embodiment of the present invention, a recycling rack 15 is provided on one side of the roller conveyor belt 7 for placing empty mother trays or daughter trays transported back from the feeding area 3.

[0027] In another embodiment of the present invention, the top two sides of the truss 5 are provided with chain conveyor belts 14, the two ends of the mounting frame 13 are respectively connected to the chain conveyor belts 14, the pallet robot 6 is mounted on the mounting frame 13, the pallet robot 6 moves in the horizontal direction, the front end of the pallet robot 6 is provided with a lifting cylinder, and the pallet clamp is connected to the piston rod of the lifting cylinder.

[0028] In another embodiment of the present invention, the pallet clamp includes a fixed frame 28, a fixed plate 29, a pressing mechanism, two alignment mechanisms, and two clamping mechanisms. The fixed plate 29 is disposed in the middle of the fixed frame 28 and is connected to the piston rod of the lifting cylinder. The two alignment mechanisms are symmetrically disposed on both sides of the fixed frame 28, and the two clamping mechanisms are symmetrically disposed at both ends of the bottom of the fixed frame 28. The clamping mechanism is provided with a hook plate 34 that moves in the x-direction, and the alignment mechanism is provided with an alignment plate 32 that moves in the y-direction. The alignment mechanism further includes a first cylinder mounting plate 30 and an alignment cylinder 31. One end of the first cylinder mounting plate 30 is connected to one side of the fixed frame 28, the alignment cylinder 31 is disposed on the first cylinder mounting plate 30, and the alignment plate 32 is vertically connected to the alignment cylinder 31. The clamping mechanism further includes a second cylinder mounting plate, a clamping cylinder 33, and a sliding structure. The second cylinder mounting plate is located at the bottom of the fixed frame 28. The clamping cylinder 33 is located on the second cylinder mounting plate. The sliding structure is located at the bottom of the fixed frame 28. The piston rod of the clamping cylinder 33 is connected to the sliding structure. The hook plate 34 is located on the sliding structure and moves horizontally on the sliding structure. The pressing mechanism includes a pressing cylinder 36, a pressing block 37, and a third cylinder mounting plate. The third cylinder mounting plate is vertically connected to the fixed frame 28 and is located close to the fixed plate 29. The pressing cylinder 36 is located on the third cylinder mounting plate. One end of the pressing block 37 is connected to the piston rod of the pressing cylinder 36, and the pressing block 37 is located with its front face downward.

[0029] In another embodiment of the present invention, the sub-pallet area 1 further includes an electric forklift 16 and an electrical control box 17. The electric forklift 16 is placed in the sub-pallet temporary storage area 9, and the electrical control box 17 is located on the side close to the roller conveyor belt 7. The electrical control box 17 communicates with the electric forklift 16, the roller conveyor belt 7, the chain conveyor belt 14, and the lifting cylinder.

[0030] In another embodiment of the present invention, the storage area 2 includes an AGV trolley 4, an AGV charging pile 19, several storage racks 20 and a storage guardrail 18. The storage guardrail 18 is located on one side of the storage area 2. Several storage racks 20 are arranged horizontally in sequence in the storage area 2. The AGV charging pile 19 is located on one side of the storage rack 20. The AGV trolley 4 is parked near the AGV charging pile 19.

[0031] In another embodiment of the present invention, the feeding area 3 includes a material bag recycling conveyor belt 26, a feeding area 3 shelf, a feeding robot 22, a sliding frame 27, a feeding clamp, and a bag breaking mechanism 21. The bottom of the feeding robot 22 is slidably connected to the sliding frame 27, and the feeding robot 22 moves horizontally on the sliding frame 27. The feeding clamp is located at the front end of the feeding robot 22. The material bag recycling conveyor belt 26 is placed on one side of the sliding frame 27, and the bag breaking mechanism 21 is placed on one side of the material bag recycling conveyor belt 26. The feeding area 3 shelf is placed on the other side of the sliding frame 27, and the feeding area 3 shelf is docked with the AGV trolley 4.

[0032] In another embodiment of the present invention, the feeding fixture includes a rotary cylinder 38, a bracket, a clamping structure, an active rotating structure, a driven rotating structure, and a clamping structure. The rotary cylinder 38 is disposed on one side of the bracket. The active rotating structure is connected to the rotary cylinder 38, and the driven rotating structure is connected to the active rotating structure. The active rotating structure and the driven rotating structure rotate synchronously. The clamping structure is disposed on the driven rotating structure. The clamping structure is provided at the bottom of the bracket. The bracket includes a top plate 39, a left vertical plate 40, and a right vertical plate 41. One end of the left vertical plate 40 is vertically connected to one end of the top plate 39, and one end of the right vertical plate 41 is vertically connected to the other end of the top plate 39. The rotary cylinder 38 is disposed on one side of the left vertical plate 40. The active rotation structure includes an active shaft, a first fixed plate 29, an active gear, and a coupling. One end of the first fixed plate 29 is vertically connected to the bottom of the top plate 39 and is positioned near the left vertical plate 40. The coupling is located on the output shaft of the rotary cylinder 38. One end of the active shaft is connected to the coupling, and the other end of the active shaft is connected to the right vertical plate 41. The active gear is mounted on the active shaft. The driven rotation structure includes a driven shaft, a second fixed plate 29, a third fixed plate 29, and a driven gear. The second fixed plate 29 is positioned on the left vertical plate 40, and the third fixed plate 29 is positioned on the right vertical plate 41. One end of the driven shaft is connected to the second fixed plate 29, and the other end of the driven shaft is connected to the third fixed plate 29. The driven shaft is parallel to the active shaft, and the driven gear is mounted on the driven shaft. The active gear meshes with the driven gear. The clamping structure includes a first clamping block 43, a second clamping block, a first gripper 44, and a second gripper. One end of the first clamping block 43 is mounted on the drive shaft, and the top of the first gripper 44 is connected to the other end of the first clamping block 43. One end of the second clamping block is mounted on the driven shaft, and the top of the second gripper is connected to the other end of the second clamping block. The first gripper 44 and the second gripper are symmetrically arranged. The pressing structure includes a pressure plate 42, a stud, a spring, and two mounting plates. The two mounting plates are symmetrically arranged on the left upright plate 40 and the right upright plate 41, respectively. One end of the stud is connected to the mounting plate, and the other end of the stud is connected to the pressure plate 42. The pressure plate 42 is horizontally placed below the drive rotating structure and the driven rotating structure. The spring is provided on the stud. The top two sides of the top plate 39 are connected to bag-removing plates 46 for removing material bags. The top of the top plate 39 is provided with a flange 45, which is connected to the front end of the feeding robot 22.

[0033] In another embodiment of the present invention, the bag-breaking mechanism 21 includes a frame 47, a hollow cover 49, a bag-cutting mechanism, a first transition member 24, a second transition member, a vibrating screen 55, and a material tank 48. The material tank 48 is fixed to one side of the frame 47. The cover 49 is disposed on the top of the frame 47, and an opening is provided on one side of the cover 49. The bag-cutting mechanism is disposed at the opening of the cover 49. The vibrating screen 55 is disposed on the frame 47. The top of the first transition member 24 communicates with the bottom of the cover 49, and the bottom of the first transition member 24 communicates with the inlet of the vibrating screen 55. The opening of the material tank 48 is located below the vibrating screen 55. The top of the second transition member communicates with the outlet of the vibrating screen 55, and the bottom of the second transition member communicates with the material tank. The can opening of 48 is connected. The bag cutting mechanism also includes a motor bracket, a speed-regulating motor 51, two bearing seats, a rotating shaft 53, and a fixing block. The motor bracket is fixed to one side of the frame 47. The speed-regulating motor 51 is mounted on the motor bracket. The two bearing seats are respectively mounted on both sides of the cover 49. The rotating shaft 53 passes through the cover 49. The two ends of the rotating shaft 53 are respectively connected to the two bearing seats. One end of the rotating shaft 53 is connected to the output shaft of the speed-regulating motor 51 through a coupling. The fixing block is located in the middle of the rotating shaft 53. The cutter 52 is mounted on the fixing block. A support plate 54 is provided on one side of the top of the frame 47. A cutting groove is provided at one end of the support plate 54. The cutter 52 is placed in the cutting groove. An exhaust vent 50 is provided on the top of the cover 49.

[0034] As another embodiment of the present invention, the feeding area 3 is equipped with a vision system 25 that communicates with the feeding robot 22, for capturing and transmitting material location information.

[0035] This invention provides an automatic feeding system for cable sheathing raw materials. This solution integrates essential intelligent components for industrial production. Through a 5G network and server deployed on-site, all components are connected, enabling each component to perform actions according to the program settings. This achieves automated production of raw material feeding and storage, reduces labor costs, and improves work efficiency.

[0036] In the tray distribution area 1, the pallet robot 6 moves the pallet gripper on the chain conveyor belt 14 to above the mother tray temporary storage area 8, grabs the mother tray and places it on the roller conveyor belt 7. The roller conveyor belt 7 transports the mother tray to the lifting device 10, which lifts the mother tray and then transports it to the loading area 11. A manual person uses the electric forklift 16 to place the material onto the mother tray in the loading area 11. The detection device 12 automatically detects the placement and dimensions of the material. A manual person opens WMS and WCS on the computer in the electrical control box 17, inputs the type, quantity, and other attribute values ​​of the material. Each attribute value is automatically bound to the RFID tag on the side and the QR code on the bottom of the mother tray. Then, an inbound command is issued. Through the 5G network and server, the AGV trolley 4 receives the inbound command. The AGV automatically travels to the bottom of the master tray in the loading area 11 and scans the QR code on the bottom of the master tray to confirm the material. After confirmation, it carries the material to the corresponding feeding port in the feeding area 3. When it reaches the roller shutter door, it sends a request to open the door to the WMS and WCS. The WMS and WCS notify the PLC to open the door. The AGV 4 places the material to be fed on the shelf in the feeding area 3. The barcode scanner on the shelf in the feeding area 3 scans the RFID on the master tray to confirm again whether the material is fed into this feeding port. If not, the AGV 4 carries the material back to the original storage position. If so, the AGV 4 drives out of the roller shutter door and sends a request to close the door to the WMS and WCS. The WMS and WCS notify the PLC to close the door. The AGV 4 returns to the rest position in the storage area 2.

[0037] When the pallet gripper grips the mother or daughter pallet, the fixing plate 29 is installed at the end of the pallet robot 6. When the pallet is retrieved, the pallet robot 6 moves the gripper above the pallet and slowly approaches it. The alignment cylinder 31 retracts, and the alignment plate 32 retracts while centering the pallet. Then the alignment cylinder 31 extends. The clamping cylinder 33 retracts, driving the hook plate 34 to move in the x-direction until the hook plate 34 supports the pallet. Subsequently, the pressing cylinder 36 extends, and the pressing plate presses down on the pallet to prevent it from shaking or tipping over during transfer, transferring the mother or daughter pallet to the retrieval position. Then the clamping cylinder 33 extends, and the sliding structure extends accordingly. The hook plate 34 disengages from the pallet, the pressing cylinder 36 retracts, and the pressing plate moves away from the pallet.

[0038] After the roller shutter door closes, the camera of the vision system 25 moves above the material to be fed. The feeding robot 22 moves the feeding clamp to the feeding position. The camera takes a picture of the material and transmits the material's position information to the feeding robot 22. The feeding robot 22 uses the feeding clamp to grab the material and then sends it to the bag-breaking mechanism 21 for bag breaking and feeding. The vision system 25 and the feeding robot 22 cycle until the feeding quantity meets the feeding command requirements or the material... The full material sensor on tank 48 provides a full material signal. Before the bag breaking and feeding begins, the fan on the exhaust duct is powered on to draw air, the motor of the vibrating screen 55 is powered on to vibrate, the speed regulating motor 51 is powered on to rotate, and the bag recycling conveyor belt 26 is powered on to rotate. After each bag of material is broken and fed, the feeding clamps move above the bag recycling conveyor belt 26 to release the broken bag onto the bag recycling conveyor belt 26. The broken bag is then transported to the broken bag recycling machine for stirring and compression, and enters the recycling bag. The recycling bags are manually cleaned periodically.

[0039] The feeding clamp is connected to the end of the feeding robot 22 via the flange 45. During automatic feeding, the clamp is moved above the material bag at the picking position, making the clamp adhere tightly to the material bag. During picking, when the clamp approaches the material bag, the pressure plate 42 contacts the material bag, the spring is compressed, the pressure plate 42 moves upward, and then the rotary cylinder 38 rotates, driving the drive shaft to rotate via the coupling. A key is installed between the coupling, the rotary cylinder 38, and the drive shaft to prevent slippage. The drive shaft drives the drive gear to rotate, the drive gear drives the driven gear to rotate, the driven gear drives the driven shaft to rotate, and the drive shaft drives the first clamping block 43 and the first gripper 44 to rotate. The driven shaft drives the second clamping block and the second gripper to rotate. The first gripper 44 and the second gripper insert into the material bag, at which point the material bag is between the bag-removing plate 46 and the first gripper 44 and the second gripper. The robot or three-axis manipulator then moves the material bag to the feeding position for bag breaking and feeding. After feeding is completed, the rotary cylinder 38 is vented and reversed, driving the drive shaft to reverse through the coupling. The drive shaft drives the drive gear to rotate, the drive gear drives the driven gear to rotate, the driven gear drives the driven shaft to rotate, the drive shaft drives the first clamping block 43 and the first clamping jaw 44 to reverse, and the driven shaft drives the second clamping block and the second clamping jaw to reverse. The spring extends, the pressure plate 42 moves down, and the material bag will contact the bag-removing plate 46 during the falling process. The bag-removing plate 46 scrapes the material bag off the first clamping jaw 44 and the second clamping jaw.

[0040] When the bag-breaking mechanism 21 is working, the fan connected to the exhaust port 50 and the vibrating screen 55 are turned on. At the same time, the speed-regulating motor 51 is started, driving the rotating shaft 53 to rotate. When the rotating shaft 53 rotates, the detection plate and the cutter 52 will also rotate. The feeding device grabs the material bag and places it on the pallet 54, making the bottom of the material bag flat, and slowly moves it into the machine cover 49 until the cutter 52 cuts the material bag. The material will fall along the bottom of the machine cover 49, pass through the first transition piece 24 and enter the vibrating screen 55. After vibration and filtration, the material falls into the opening of the material tank 48 through the second transition piece. Impurities are discharged from the waste port of the vibrating screen 55, and floating dust is drawn away through the exhaust port 50. A full material sensor is set at the filling port of the material tank 48. When the full material sensor detects that the material is full, feeding stops.

[0041] After the feeding command is executed, if there is still material on the mother tray, the WMS and WCS notify the AGV trolley 4 to return the material to the storage rack 20 in the storage area 2. If there is no material on the mother tray, the WMS and WCS notify the AGV trolley 4 to place the mother tray and daughter tray onto the recycling rack 15 in the tray separation area 1. The sensor on the recycling rack 15 detects the mother tray, and the pallet robot 6 moves the pallet gripper 102 above the mother tray, grabs the daughter tray and places it in the daughter tray temporary storage area 9. In this solution, three daughter tray temporary storage areas 9 are set. The pallet gripper then moves above the mother tray, grabs the mother tray and places it in the mother tray temporary storage area 8, completing the automatic separation and recycling of the mother and daughter trays. The AGV charging pile 19 is set in the storage area 2. When the AGV trolley 4 runs out of power, it will automatically go to the AGV charging pile 19 to charge. Meanwhile, anti-collision posts were installed in the tray area 1, storage area 2 and feeding area 3, and guardrails were also installed around their respective work areas to prevent dust from spreading.

[0042] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. An automatic cable rubber raw material feeding system, characterized in that, The application relates to a material feeding device, which comprises a disc separating area for providing and recycling mother discs and daughter discs, a storage area for storing materials and a feeding area, wherein an AGV trolley is arranged in the storage area, the AGV trolley moves between the disc separating area, the storage area and the feeding area, the disc separating area comprises a truss, a tray manipulator, a tray clamp, a roller conveyor, a mother disc temporary storage area, a daughter disc temporary storage area, a jacking device and a feeding area, the jacking device is arranged at one end of the roller conveyor, the mother disc temporary storage area is arranged at the other end of the roller conveyor, the daughter disc temporary storage area is arranged on one side of the mother disc temporary storage area, the feeding area is arranged on one side of the jacking device, the truss is arranged above the mother disc temporary storage area, the tray manipulator is arranged on the top of the truss, the tray clamp is arranged at the front end of the tray manipulator, one side of the feeding area is provided with a detection device for detecting the position and shape size of the materials; the feeding area comprises a material bag recycling conveyor, a feeding area shelf, a feeding robot, a sliding frame, a feeding clamp and a bag breaking mechanism, the bottom of the feeding robot is slidingly connected to the sliding frame, the feeding robot moves horizontally on the sliding frame, the feeding clamp is arranged at the front end of the feeding robot, the material bag recycling conveyor is arranged on one side of the sliding frame, the bag breaking mechanism is arranged on one side of the material bag recycling conveyor, the feeding area shelf is arranged on the other side of the sliding frame, and the feeding area shelf is connected with the AGV trolley.The feeding clamp comprises a rotary air cylinder, a support, a pressing structure, a driving rotary structure, a driven rotary structure and a clamping structure. The rotary air cylinder is arranged on one side of the support. The driving rotary structure is connected with the rotary air cylinder. The driven rotary structure is connected with the driving rotary structure. The driving rotary structure and the driven rotary structure rotate synchronously. The clamping structure is arranged on the driven rotary structure. The bottom of the support is provided with the pressing structure. The support comprises a top plate, a left vertical plate and a right vertical plate. One end of the left vertical plate is connected perpendicularly to one end of the top plate. One end of the right vertical plate is connected perpendicularly to the other end of the top plate. The rotary air cylinder is arranged on one side of the left vertical plate. The driving rotary structure comprises a driving shaft, a first fixed plate, a driving gear and a shaft coupling. One end of the first fixed plate is connected perpendicularly to the bottom of the top plate and arranged close to the left vertical plate. The shaft coupling is arranged on the output shaft of the rotary air cylinder. One end of the driving shaft is connected with the shaft coupling. The other end of the driving shaft is connected with the right vertical plate. The driving gear is arranged on the driving shaft. The driven rotary structure comprises a driven shaft, a second fixed plate, a third fixed plate and a driven gear. The second fixed plate is arranged on the left vertical plate. The third fixed plate is arranged on the right vertical plate. One end of the driven shaft is connected with the second fixed plate. The other end of the driven shaft is connected with the third fixed plate. The driven shaft is arranged in parallel with the driving shaft. The driven gear is arranged on the driven shaft. The driving gear is engaged with the driven gear. The clamping structure comprises a first clamping block, a second clamping block, a first clamping jaw and a second clamping jaw. One end of the first clamping block is arranged on the driving shaft. The top of the first clamping jaw is connected with the other end of the first clamping block. One end of the second clamping block is arranged on the driven shaft. The top of the second clamping jaw is connected with the other end of the second clamping block. The first clamping jaw and the second clamping jaw are arranged symmetrically. The pressing structure comprises a pressing plate, a stud, a spring and two mounting plates. The two mounting plates are arranged symmetrically on the left vertical plate and the right vertical plate respectively. One end of the stud is connected with the mounting plate. The other end of the stud is connected with the pressing plate. The pressing plate is horizontally placed below the driving rotary structure and the driven rotary structure. The stud is provided with the spring. The top of the top plate is connected with two bag shedding plates for shedding material bags. The top of the top plate is provided with a flange part connected with the front end of the feeding robot.

2. The automatic cable rubber raw material feeding system according to claim 1, characterized in that, One side of the roller conveyor is provided with a recycling shelf for placing empty mother or daughter discs transported back from the feeding area.

3. The automatic cable rubber raw material feeding system according to claim 1, characterized in that, Two chain conveyors are arranged at the top of the truss, and the two ends of the mounting frame are connected with the chain conveyors, respectively. The tray manipulator is arranged on the mounting frame, and moves in the horizontal direction. The front end of the tray manipulator is provided with a lifting cylinder, and the tray clamp is connected with the piston rod of the lifting cylinder.

4. The automatic cable rubber raw material feeding system according to claim 3, characterized in that, The tray clamp comprises a fixing frame, a fixing plate, a pressing mechanism, two alignment mechanisms and two clamping mechanisms. The fixing plate is arranged at the middle part of the fixing frame and connected with the piston rod of the lifting cylinder. The two alignment mechanisms are symmetrically arranged at the two sides of the fixing frame. The two clamping mechanisms are symmetrically arranged at the two ends of the bottom of the fixing frame. The clamping mechanism is provided with a hook plate moving in the x direction. The alignment mechanism is provided with an alignment plate moving in the y direction. The alignment mechanism further comprises a first cylinder mounting plate and an alignment cylinder. One end of the first cylinder mounting plate is connected with one side of the fixing frame. The alignment cylinder is arranged on the first cylinder mounting plate. The alignment plate is vertically connected with the front end of the piston rod of the alignment cylinder. The clamping mechanism further comprises a second cylinder mounting plate, a clamping cylinder and a sliding structure. The second cylinder mounting plate is arranged at the bottom of the fixing frame. The clamping cylinder is arranged on the second cylinder mounting plate. The sliding structure is arranged at the bottom of the fixing frame. The piston rod of the clamping cylinder is connected with the sliding structure. The hook plate is arranged on the sliding structure and moves horizontally on the sliding structure. The pressing mechanism comprises a pressing cylinder, a pressing block and a third cylinder mounting plate. The third cylinder mounting plate is vertically connected with the fixing frame. The third cylinder mounting plate is arranged close to the fixing plate. The pressing cylinder is arranged on the third cylinder mounting plate. One end of the pressing block is connected with the piston rod of the pressing cylinder. The pressing block is arranged with the front face downward.

5. The automatic cable rubber raw material feeding system according to claim 3, characterized in that, The disc dividing area further comprises an electric forklift and an electric control box. The electric forklift is placed in the daughter disc temporary storage area. The electric control box is arranged close to one side of the roller conveyor. The electric control box communicates with the electric forklift, the roller conveyor, the chain conveyor and the lifting cylinder.

6. The automatic cable rubber raw material feeding system according to claim 1, characterized in that, The storage area comprises an AGV trolley, an AGV charging pile, a plurality of storage shelves and a storage guardrail. The storage guardrail is arranged on one side of the storage area. The plurality of storage shelves are arranged in the storage area in sequence. The AGV charging pile is arranged on one side of the storage shelf. The AGV trolley is parked close to the AGV charging pile.

7. The automatic cable rubber raw material feeding system according to claim 1, characterized in that, The bag breaking mechanism comprises a rack, a hollow structure cover, a bag cutting mechanism, a first transition piece, a second transition piece, a vibrating screen and a tank, the tank is fixed on one side of the rack, the cover is arranged on the top of the rack, one side of the cover is provided with an opening, the bag cutting mechanism is arranged at the opening of the cover, the vibrating screen is arranged on the rack, the top of the first transition piece is communicated with the bottom of the cover, the bottom of the first transition piece is communicated with the inlet of the vibrating screen, the tank opening of the tank is arranged below the vibrating screen, the top of the second transition piece is communicated with the outlet of the vibrating screen, the bottom of the second transition piece is communicated with the tank opening, the bag cutting mechanism further comprises a motor support, a speed regulating motor, two bearing seats, a rotating shaft and a fixing block, the motor support is fixed on one side of the rack, the speed regulating motor is arranged on the motor support, the two bearing seats are arranged on the two sides of the cover respectively, the rotating shaft is arranged through the cover, the two ends of the rotating shaft are connected in the two bearing seats respectively, one end of the rotating shaft is connected with the output shaft of the speed regulating motor through a shaft coupling, the fixing block is arranged on the middle part of the rotating shaft, a cutter is arranged on the fixing block, one side of the top of the rack is provided with a supporting plate, one end of the supporting plate is provided with a cutting groove, the cutter is placed in the cutting groove, and the top of the cover is provided with an air outlet.

8. The automatic cable rubber raw material feeding system according to claim 1, characterized in that, The feeding area shelf is provided with a vision system in communication with the feeding robot, which is used for shooting and transmitting material position information.

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