A system for processing packaging material

Abstract

The application discloses a system for processing packaging raw materials, and relates to the field of automation, which comprises a feeding device, a box recycling device, a discharging device and a box opening device. The feeding device is used for feeding the box loaded with the barrel-shaped material; the box recycling device is connected with the feeding device and is used for recycling the box; one end of the box recycling device close to the feeding device is provided with a box opening station; the discharging device is used for performing preset processing on the barrel taken out of the box and outputting the barrel; the box opening device is arranged between the box recycling device and the discharging device and is used for opening the box loaded with the barrel-shaped material at the box opening station and taking out the barrel in the box and placing the barrel on the discharging device. Through the automatic box opening processing, the labor of the workers is reduced, the automation capability is improved, the safety is higher, and the efficiency of the material processing is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, and in particular to a system for processing packaged materials. BACKGROUND

[0002] With the rapid development of industrial automation, various industries have begun to widely apply automation technology.

[0003] Some industries, such as the pharmaceutical industry, require various types of powdery raw materials, which are usually stored in barrels. Before storing the raw materials, the barrels need to be cleaned and sterilized using a special machine. In the prior art, barrels are packaged with boxes and packing belts before transportation. When the barrels arrive at the destination, manual cutting of the packing belt and the box is required to remove the barrels from the box. The unpacking process is mainly manual operation.

[0004] However, when the number of materials is large, the personnel performing the unpacking operation may need to bend for a long time, resulting in high labor intensity. When the personnel are tired, the unpacking speed will decrease, and the efficiency of processing the barrel-packed materials will be low. SUMMARY

[0005] To solve the above technical problems, the present application provides a system for processing packaged materials to reduce the labor intensity of manual work and improve the efficiency of material processing.

[0006] The present application provides a system for processing packaged materials, comprising:

[0007] a feeding device for feeding the box containing the barrel-packed materials;

[0008] a box recycling device connected to the feeding device for recycling the box, wherein one end of the box recycling device close to the feeding device is provided with an unpacking station;

[0009] a discharging device for performing a preset treatment on the barrels taken out of the box and outputting the barrels;

[0010] an unpacking device arranged between the box recycling device and the discharging device, for unpacking the box containing the barrel-packed materials at the unpacking station and taking out the barrels in the box and placing them on the discharging device.

[0011] In some embodiments, the feeding device comprises:

[0012] a support;

[0013] a roller assembly mounted on the support for conveying the box in a first direction, the roller assembly comprising a plurality of rollers distributed at intervals in the first direction and capable of rotating about an axis in a second direction;

[0014] Roller line pushing cylinder assembly is installed at the end of the support, used to push the box containing the barrel material to move to the unpacking station.

[0015] In some embodiments, the unpacking station is also provided with a visual light source assembly, a positioning cylinder assembly and an unpacking blocking cylinder assembly.

[0016] The visual light source assembly includes a fixed support and a lamp tube, the fixed support is fixed on one side of the unpacking station, and the lamp tube is fixedly connected to the top of the fixed support and located above the unpacking station, used to provide illumination to the unpacking station area.

[0017] The positioning cylinder assembly includes a fixed part, a positioning cylinder, a rod body and a positioning plate, the fixed part is fixed on the fixed support and higher than the unpacking station, the rod body is movably arranged on the fixed part, the positioning cylinder is connected with the rod body, and the positioning plate is connected with the rod body, the positioning cylinder drives the rod body to move the positioning plate, when the barrel reaches the unpacking station, the positioning plate is driven by the positioning cylinder to move, and the positioning plate pushes the barrel to reach the preset position of the unpacking station.

[0018] The unpacking blocking cylinder assembly includes an unpacking blocking cylinder fixing part, an unpacking blocking cylinder, an extension rod and a blocking plate, the unpacking blocking cylinder fixing part is arranged below the unpacking station, the unpacking blocking cylinder is arranged on the unpacking blocking cylinder fixing part, the unpacking blocking cylinder is connected with the extension rod, and the blocking plate is arranged at one end of the extension rod, the unpacking blocking cylinder drives the extension rod to contract, and the blocking plate descends to pass the barrel, the unpacking blocking cylinder drives the extension rod to extend, and the blocking plate rises to block the barrel.

[0019] In some embodiments, the unpacking device includes:

[0020] A robot, the robot includes a mechanical arm;

[0021] A clamp module connected to the end of the mechanical arm, including:

[0022] A connecting platform connected to the mechanical arm through a flange connecting block;

[0023] A visual positioning module arranged on the connecting platform, used to position the position of the to-be-cut packing belt and the position of the to-be-cut sealing port on the box;

[0024] A cutting and picking assembly arranged on the connecting platform, used to cut the packing belt on the box at the to-be-cut packing belt position, and used to pick up the cut packing belt;

[0025] A box cutting piece arranged on the connecting platform, used to cut the box at the to-be-cut sealing port position to open the box;

[0026] At least one picking module arranged on the connecting platform, used to pick up the barrel from the opened box and transport the barrel to the target position.

[0027] In some embodiments, the at least one picking module comprises a first clamping assembly, the first clamping assembly comprising a first adjusting piece, two first clamping plates, and two first adjusting sliding blocks, the two first adjusting sliding blocks being slidingly arranged on the first adjusting piece, the first adjusting piece being internally provided with a first pull rod, one end of the first pull rod being connected to the first adjusting sliding blocks, and the other end of the first pull rod being connected to the first clamping plates.

[0028] When the two first adjusting sliding blocks slide inward, the two first clamping plates are retracted inward to clamp the material barrel; when the two first adjusting sliding blocks slide outward, the two first clamping plates are expanded outward to release the material barrel; and / or

[0029] The at least one picking module comprises a vacuum chuck and a vacuum generator, the vacuum generator being in communication with the vacuum chuck through an air guide pipe and an air guide pump to provide compressed air to the vacuum chuck so that the vacuum chuck generates a negative pressure suction force to suck the material barrel.

[0030] In some embodiments, the material unloading device comprises:

[0031] a material unloading frame;

[0032] a material unloading roller line arranged on the material unloading frame and used for conveying the material barrels, the material unloading roller line being provided with a detection station;

[0033] a detection module arranged on the material unloading frame and facing the material unloading roller line, the detection module being used for detecting the material barrels entering the detection station to determine whether the material barrels are qualified.

[0034] In some embodiments, the detection module comprises a connecting part, a light source, an industrial camera, an adjusting mechanism, and a visual processing module.

[0035] The connecting part is connected to the material unloading frame, the light source is fixed on the connecting part, the adjusting mechanism is connected to the connecting part, the industrial camera is connected to the adjusting mechanism, the visual processing module is connected to the industrial camera, the adjusting mechanism is used for adjusting the position of the industrial camera, the industrial camera is used for acquiring images of the material barrels and sending the images to the visual processing module, and the visual processing module is used for determining whether the material barrels are qualified according to the images.

[0036] In some embodiments, the material unloading device further comprises an unqualified material barrel recycling device and a distribution device, the unqualified material barrel recycling device and the distribution device being arranged on the material unloading frame, and the distribution device distributing the material barrels determined to be unqualified by the detection module to the unqualified material barrel recycling device for recycling by the unqualified material barrel recycling device.

[0037] In some embodiments, a cleaning feeding device is further included, which is arranged at the end of the discharging roller line, and includes a feeding mechanism and a barrel washing machine, the feeding mechanism is used to feed the qualified barrel to the barrel washing machine for cleaning, and the feeding mechanism includes a lifting part and a moving part, the lifting part is used to lift the barrel, and the moving part is connected to the lifting part to drive the lifting part to move.

[0038] In some embodiments, a packing belt collecting device is further included, which is connected to the unpacking device, and is used to collect the packing belt cut by the unpacking device;

[0039] The packing belt collecting device includes a fixed frame, a fixed roller, a movable roller, a first driving assembly, a second driving assembly and a packing belt collecting box.

[0040] The fixed roller, the movable roller, the first driving assembly and the second driving assembly are all mounted on the fixed frame.

[0041] The fixed roller and the movable roller are mounted on the same plane of the fixed frame, and the axial directions of the fixed roller and the movable roller are parallel to each other.

[0042] The movable roller is movably connected to the first driving assembly, and the first driving assembly is used to drive the movable roller to move, so as to adjust the distance between the fixed roller and the movable roller.

[0043] The second driving assembly is electrically connected to the fixed roller and the movable roller respectively, and the second driving assembly is used to control the rotating action of the fixed roller and the movable roller.

[0044] The fixed frame is mounted on the packing belt collecting box, and the packing belt collecting box is used to collect the packing belt falling between the fixed roller and the movable roller.

[0045] From the above technical solutions, it can be seen that the embodiments of the present application have the following advantages:

[0046] In the present application, the material is fed to the unpacking station by the feeding device, and the unpacking device is used to automatically unpack the box containing the barrel, so as to obtain the barrel in the box, and the barrel is placed in the discharging device and then transmitted to the next station for preset processing, such as cleaning. The unpacked box is recycled by the box recycling device. Through the automatic unpacking process, the labor of the workers is reduced, the automation capability is improved, the safety is higher, and the efficiency of material processing is improved. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the present application, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0048] Figure 1 A perspective view of the system for processing packaged materials in the present application;

[0049] Figure 2 A top view of the system for processing packaged materials in the present application;

[0050] Figure 3 A schematic view of the connection structure between the feeding device and the unpacking station in the present application;

[0051] Figure 4 A schematic view of the positioning cylinder assembly and the visual light source assembly in the present application;

[0052] Figure 5 A schematic view of the unpacking blocking cylinder assembly in the present application;

[0053] Figure 6 A schematic view of the clamp module structure of the unpacking device in the present application;

[0054] Figure 7 A schematic view of the unloading device in the present application;

[0055] Figure 8 A schematic view of the detection module structure in the unloading device in the present application;

[0056] Figure 9 A schematic view of the second clamping assembly structure in the unloading device in the present application;

[0057] Figure 10-1 A schematic view of the structure of the packing tape collecting device in the present application;

[0058] Figure 10-2 A schematic view of the structure of the packing tape collecting device from another angle

[0059] Figure 11 A schematic view of the cleaning and feeding device structure in the present application.

[0060] Wherein:

[0061] 1-feeding device, 11-support, 12-roller assembly, 13-roller line feeding cylinder assembly;

[0062] 2 - unpacking station, 21 - visual light source assembly, 211 - fixing support, 212 - lamp tube, 22 - positioning cylinder assembly, 221 - fixing piece, 222 - positioning cylinder, 223 - rod body, 224 - positioning plate, 23 - unpacking blocking cylinder assembly, 231 - unpacking blocking cylinder fixing piece, 232 - unpacking blocking cylinder, 233 - telescopic rod, 234 - blocking plate;

[0063] 3 - unpacking device, 31 - mechanical arm, 32 - clamp module, 321 - shearing pickup assembly, 3211 - shearing pickup cylinder, 3212 - pneumatic scissors, 3213 - pickup clamp, 322 - first clamping assembly, 3221 - first clamping plate, 3222 - first adjusting sliding block, 3223 - first adjusting piece, 3224 - first pull rod, 323 - connecting platform, 324 - visual positioning module, 3241 - support frame, 3242 - visual camera, 325 - box cutting piece, 326 - vacuum chuck, 327 - flange connecting block;

[0064] 4 - blanking device, 41 - detection module, 411 - connecting part, 412 - light source, 413 - industrial camera, 414 - adjusting mechanism, 42 - detection station, 43 - blanking roller line, 44 - second clamping assembly, 441 - second adjusting piece, 442 - second clamping plate, 443 - second adjusting sliding block, 444 - second pull rod, 45 - blanking frame;

[0065] 5 - unqualified material barrel recycling device;

[0066] 6 - box recycling device;

[0067] 7 - packing tape collection device, 71 - fixed frame, 72 - fixed roller, 73 - movable roller, 74 - first driving assembly, 75 - second driving assembly, 76 - packing tape collection box, 77 - limiting assembly, 771 - limiting guide rod, 772 - horizontal limiting cylinder, 773 - lifting limiting cylinder, 78 - guide unpowered roller;

[0068] 8 - safety fence, 81 - first fence, 82 - second fence, 83 - third fence;

[0069] 9 - cleaning feeding device, 91 - feeding mechanism, 911 - extracting piece, 912 - moving piece. DETAILED DESCRIPTION

[0070] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are used only to illustrate the relative positional relationship between the components or constituent parts, and do not particularly limit the specific installation orientation of the components or constituent parts.

[0071] In addition, in addition to being used to indicate the orientation or positional relationship, the above-mentioned partial terms can also be used to indicate other meanings, for example, the term "upper" can also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0072] In addition, the terms "mount", "set", "provided with", "connect", "connected" should be broadly understood. For example, it can be fixedly connected, detachably connected, or integrally configured; it can be mechanically connected or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or constituent parts. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0073] In addition, the structure, proportion, size, etc. shown in the drawings in the present application are only used to cooperate with the disclosed content of the specification for those skilled in the art to understand and read, and do not have technical significance, and any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effect and the purpose that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application.

[0074] The embodiment of the present application provides a system for processing packaging materials, which can reduce the labor of workers, improve the automation capability, is safer, and improves the efficiency of material processing.

[0075] The system in the present application is mainly used in the pharmaceutical industry to process the packaging of the material barrel box containing medicine powder. The production of medicines in the pharmaceutical industry requires various types of sterile raw material powder for mixing and proportioning, and most of these sterile raw material powders are stored in pure aluminum containers. Before storing the medicine powder, the material barrel needs to be cleaned and sterilized by a special machine. The material barrel is packaged with a box, transparent tape and packing tape. Before using the material barrel in the box, the packing tape needs to be cut by hand, and the transparent tape of the box needs to be cut open. The box is mainly operated manually. If the amount of material is large, the operator may need to bend for a long time, which is labor-intensive and may cause accidents when operating scissors or knives. In addition, manual operation may also contaminate the material barrel and increase the difficulty of cleaning and sterilization. With the rapid development of industrial automation, automation has begun to emerge in various industries. Therefore, the present application provides a system for processing packaging materials to replace manual operation, reduce labor intensity, and improve processing efficiency.

[0076] Please refer to Figure 1 and Figure 2 , Figure 1 is a schematic view of the system for processing packaging materials in the present application, Figure 2 is a top view of the system for processing packaging materials in the present application, which comprises a feeding device 1, a box opening station 2, a box opening device 3, a discharging device 4 and a box recycling device 6.

[0077] The feeding device 1 is used to feed the box containing the barrel material. The box recycling device 6 is connected to the feeding device 1, and the box recycling device 6 is used to recycle the box. The box recycling device 6 is provided with a box opening station 2 at one end close to the feeding device. It should be noted that the feeding device 1 is connected to the box opening station 2, and the feeding device 1 is also used to transport the box containing the material barrel to the box opening station 2.

[0078] After the box is opened by the box opening device 3 and the material barrel in the box is taken out, only the box is left on the box opening station 2. The box is directly sent to the box recycling device 6. The box recycling device 6 conveys the box obtained after the box is opened by the box opening device 3, and transmits the box to the box recycling mechanism, or the box can also be manually recycled by the box recycling device 6 at the end of the box recycling device 6 to prevent the box from being stacked and causing blockage, which causes the system to not work normally.

[0079] The unpacking device 3 is located between the box recycling device 6 and the unloading device 4. The unpacking device 3 is used to unpack the boxes containing the material buckets at the unpacking station 2. Specifically, the unpacking device 3 is used to remove the packing straps of the boxes and send the packing straps to the packing strap collection device 7. The packing strap collection device 7 is used to collect the removed packing straps. In addition, the unpacking device 3 is also used to cut open the boxes and take out the material buckets inside the boxes and place them on the unloading device 4. The unloading device 4 is used to transport the material buckets to the next stage, such as to the cleaning and feeding device 9 for cleaning.

[0080] In practical applications, the boxes containing the material buckets are placed onto the feeding device 1 by manual labor or a robotic arm. The feeding device 1 then transports the material buckets to the unpacking station 2. Please refer to further details. Figure 3 , Figure 3 This is a schematic diagram showing the connection structure between the feeding device 1 and the unpacking station 2. Specifically, the feeding device 1 includes a support 11, a roller assembly 12, and a roller line pushing cylinder assembly 13. The roller assembly 12 is mounted on the support 11 and is used to push material along a first direction (e.g., ...). Figure 3 The feeding device 1 shown conveys the box along its length direction or the arrangement direction of the boxes. The roller assembly 12 includes several rollers. The rollers are spaced apart along the first direction and can rotate around the axis of the second direction (perpendicular to the first direction). The roller is a cylindrical object that can rotate in machinery. In machinery, a power source is often used to drive the rollers, which can move other materials forward. Several rollers in the feeding device 1 are installed in parallel on the support 11. The roller line pusher cylinder assembly 13 is installed at the end of the support 11. When the box reaches the end of the support 11, the roller line pusher cylinder assembly 13 is used to push the box containing the material bucket to move until the box containing the material bucket is transported to the unpacking station 2.

[0081] Normally, to prevent the material drums from falling out of the box during transportation, the box is usually strapped and sealed with packing straps after the drums are placed inside. This also reduces dust entering the box and contaminating the drums. Therefore, unpacking is the first step before using the drums. The unpacking device 3 is used to open the box at unpacking station 2, allowing the drums to be exposed. Please refer to further details. Figure 6 Specifically, the unpacking device 3 includes a robot and a clamping module 32. The robot includes a robotic arm 31, which can move to the unpacking station 2. The clamping module 32 is installed at the end of the robotic arm 31, which can be a six-axis robotic arm.

[0082] Specifically, the clamp module 32 comprises a cutting and picking assembly 321 and a first clamping assembly 322, the cutting and picking assembly 321 and the first clamping assembly 322 are driven to move by the mechanical arm 31 when the mechanical arm 31 moves, the cutting and picking assembly 321 is used to cut the packing tape on the box, and the first clamping assembly 322 is used to clamp the bucket from the box and place it on the discharging device 4 after the box is opened. In addition, the clamp module 32 further comprises a connecting platform 323, a visual positioning module 324, a box cutting piece 325 and a vacuum chuck 326. The connecting platform 323 is connected with the mechanical arm 31 through a flange connecting block 327, the visual positioning module 324 is arranged on the connecting platform 323, the visual positioning module 324 is used to position the position of the packing tape to be cut and the position of the sealing mouth to be cut on the box, the cutting and picking assembly 321 is arranged on the connecting platform 323, the cutting and picking assembly 321 is used to cut the packing tape on the box at the position of the packing tape to be cut, and is used to pick up the cut packing tape; the box cutting piece 325 is arranged on the connecting platform 323, the box cutting piece 325 is used to cut the box at the position of the sealing mouth to be cut to open the box; at least one picking module is arranged on the connecting platform 323, the picking module is used to pick up the bucket from the opened box and transport the bucket to the target position.

[0083] In the embodiment, the connecting platform 323 is a rectangular plate, the visual positioning module 324, the cutting and picking assembly 321, the first clamping assembly 322 and the vacuum chuck 326 are respectively fixed on the first side, the second side, the third side and the fourth side of the connecting platform 323. That is to say, the visual positioning module 324 and the first clamping assembly 322 are respectively arranged on the two sides of the connecting platform 323 along the width direction (i.e. the long side of the rectangular plate), and the cutting and picking assembly 321 and the vacuum chuck 326 are respectively arranged on the two sides of the connecting platform 323 along the length direction (i.e. the short side of the rectangular plate). At the same time, the flange connecting block 327 and the box cutting piece 325 are respectively arranged on the two sides of the connecting platform 323 along the thickness direction, specifically, the flange connecting block 327 is installed on the top surface of the connecting platform 323, and the box cutting piece 325 is installed on the bottom surface of the connecting platform 323.

[0084] It can be understood that the visual positioning module 324 is used to position the position of the to-be-cut packing tape on the carton and the position of the to-be-cut sealing port for sealing the carton, and the position of the to-be-cut sealing port of the carton is the position of the sealing port of the carton sealed by the transparent tape or the sealing tape. When the visual positioning module 324 positions the to-be-cut packing tape position, the visual positioning module 324 sends a first signal with the to-be-cut packing tape position to the robot, so that the robot controls the mechanical arm 31 to move the cutting and picking assembly 321 fixed to the second side of the connecting platform 323 to the to-be-cut packing tape position according to the first signal, and controls the tip of the pneumatic scissors of the cutting and picking assembly 321 to cut the packing tape on the carton. When the tip of the pneumatic scissors cuts the packing tape on the carton, the robot controls the picking clamp of the cutting and picking assembly 321 to pick the cut packing tape. The second side is adjacent to the first side. When the visual positioning module 324 positions the to-be-cut sealing port position, the visual positioning module 324 sends a second signal with the to-be-cut sealing port position to the robot, so that the robot controls the box cutting piece 325 fixed to the lower side of the connecting platform 323 to move to the to-be-cut sealing port position according to the second signal, and controls the box cutting piece 325 to cut the transparent tape or the sealing tape at the to-be-cut sealing port position, so that the carton is opened. Then, the picking module (the first clamping assembly 322 or the vacuum suction cup 326) is used to pick the material from the opened carton. When the picking module picks the material, the robot controls the picking module to move, so that the material is transported to a designated position.

[0085] In some embodiments, the visual positioning module 324 is arranged on the connecting platform 323 and includes a support frame 3241, a processing module, and a visual camera 3242. The support frame 3241 is fixedly connected to the connecting platform 323. The visual camera 3242 is used to take pictures of the box and send the pictures to the processing module. The processing module detects the position of the packing tape on the box in the pictures. The visual positioning module 324 is used to visually position the packing tape of the bundled box. After the position of the packing tape is determined, the cutting and picking assembly 321 moves to the position of the packing tape positioned by the visual positioning module 324, and cuts the packing tape, thereby improving the cutting efficiency. Specifically, the cutting and picking assembly 321 includes a cutting and picking cylinder 3211, pneumatic scissors 3212, and a picking clamp 3213. The cutting and picking cylinder 3211 is arranged on the connecting platform 323 and is used to control the actions of the pneumatic scissors 3212 and the picking clamp 3213. The pneumatic scissors 3212 is connected to the cutting and picking cylinder 3211 and is used to cut the packing tape on the carton at the to-be-cut packing tape position. The picking clamp 3213 is connected to the cutting and picking cylinder 3211 and is used to clamp and extract the packing tape from the box after the packing tape is cut.

[0086] The application positions the position to be cut off the packing belt on the carton and the position to be cut off the sealing port of the carton through the visual positioning module 324, drives the cutting and picking assembly 321 to move to the position to be cut off the packing belt through the mechanical arm 31, controls the cutting and picking cylinder 3211 to make the tip of the pneumatic scissors 3212 cut off the packing belt, and controls the cutting and picking cylinder 3211 to make the picking clamp 3213 pick up the cut packing belt. Then, the position to be cut off the sealing port is cut through the carton cutting piece 325. The carton cutting piece 325 is arranged below the connecting platform 323. After the packing belt is cut off, the carton cutting piece 325 is inserted into the carton and moves along the edge of the carton end cover under the driving of the mechanical arm 31 to cut open the carton end cover. Then, the picking module picks up the material from the opened carton and transports the material to a target position. For example, the cut carton end cover is sucked up and removed through the vacuum suction cup 326. Finally, the first clamping assembly 322 or the vacuum suction cup 326 is used to pick up the material bucket in the carton and place it to the material unloading device 4.

[0087] In this way, the cutting off of the packing belt on the carton, the cutting open of the sealed carton and the transportation of the material in the carton are realized through the components of the clamp module 32, so that manual cutting off of the packing belt, cutting open of the sealed carton or transportation of the material in the carton is not needed, and the labor cost is greatly saved.

[0088] In some embodiments, the first clamping assembly 322 includes two first clamping plates 3221, two first adjusting sliding blocks 3222, a first adjusting piece 3223 and at least two first pull rods 3224. The first adjusting piece 3223 is provided with a sliding track. The first adjusting sliding block 3222 is slidingly arranged on the sliding track and can move on the sliding track. The first pull rod 3224 is arranged in the first adjusting piece 3223. One end of the first pull rod 3224 is connected with the first adjusting sliding block 3222, and the other end extending out of the first adjusting piece 3223 is connected with the first clamping plate 3221. When the two first adjusting sliding blocks 3222 slide inward, the two first clamping plates 3221 contract inward to clamp the material bucket. When the two first adjusting sliding blocks 3222 move outward, the two first clamping plates 3221 expand outward to release the material bucket.

[0089] In some embodiments, the at least one picking module comprises a vacuum grabbing mechanism, which comprises a vacuum chuck 326, a vacuum detection switch, and a vacuum generator; the vacuum generator is in communication with the vacuum chuck 326 through a first air guide pipe and an air guide pump, and is used to provide compressed air for the vacuum chuck 326 to generate a negative pressure suction force to suck the material; the vacuum detection switch is fixed on the connecting platform 323 and located between the vacuum generator and the vacuum chuck 326; the vacuum detection switch is in communication with the vacuum chuck 326 through a second air guide pipe and is used to detect the vacuum value of the vacuum chuck 326, and when it is detected that the vacuum value of the vacuum chuck 326 is less than a preset vacuum value, a material falling alarm of the vacuum chuck 326 can also be generated to prompt the on-site staff to handle it in time.

[0090] In the present embodiment, the vacuum chuck 326 is fixed on the fourth side of the connecting platform 323, adjacent to the visual positioning module 324 and opposite to the shearing picking assembly 321; the material of the vacuum chuck 326 can be rubber material or silicone material, or other materials, which are not limited here; the rubber-made chuck can be operated at high temperature, and the silicone rubber-made chuck is very suitable for grabbing products with rough surface; in order to avoid scratching the surface of the product, a chuck with a corrugated pipe made of nitrile rubber or silicone rubber can also be selected. The vacuum generator fixed on the connecting platform 323 is a new, efficient and small vacuum component that generates negative pressure by using positive pressure air source. The vacuum generator provides compressed air to the vacuum chuck 326 through the first air guide pipe and the air guide pump, so as to cooperate with the vacuum chuck 326 to perform adsorption and transportation of various materials. The vacuum detection switch is a switch for detecting the range of vacuum degree, also known as vacuum relay. Its function is to automatically open and close the control circuit and send an electrical signal to instruct the vacuum grabbing mechanism to operate normally when the vacuum degree generated in actual work reaches the specified requirement. In the present application, the vacuum detection switch is used to send an electrical signal through the control circuit and generate a material falling alarm of the vacuum chuck 326 when it is detected that the vacuum value of the vacuum chuck is less than the preset vacuum value.

[0091] In the present embodiment, the vacuum grabbing mechanism is used to suck the material in the carton when the carton is opened, and the material can be a clamp plate placed in the carton and other sundries. The vacuum grabbing mechanism is used to suck the material in the carton and transport the material to the target position; the vacuum grabbing mechanism is also used to grab the carton when the material in the carton is emptied and transport the carton to the corresponding target position. Alternatively, the vacuum grabbing mechanism can also be used to remove the end cover on the carton, or to grab the material in the carton with a weight less than a preset weight, for example, an aluminum barrel with a cover.

[0092] Please continue to refer to Figure 3 and further refer to Figure 4 and Figure 5In some embodiments, the unpacking station 2 is further provided with a visual light source assembly 21, a positioning cylinder assembly 22 and an unpacking blocking cylinder assembly 23. The visual light source assembly 21 includes a fixed support 211 and a lamp tube 212. The fixed support 211 is fixed on one side of the unpacking station 2. The lamp tube 212 is fixedly connected to the top of the fixed support 211 and is above the unpacking station 2, which is used to provide illumination for the area of the unpacking station 2. The positioning cylinder assembly 22 includes a fixed part 221, a positioning cylinder 222, a rod body 223 and a positioning plate 224. The fixed part 221 is fixed on the fixed support 211 of the visual light source assembly 21 and is slightly higher than the unpacking station 2. The rod body 223 is movably arranged on the fixed part 221. The positioning cylinder 222 is connected with the rod body 223. The positioning plate 224 is connected with the rod body 223. The positioning cylinder 222 drives the rod body 223 to retract. The rod body 223 drives the positioning plate 224 to move. When the bucket reaches the unpacking station 2, the positioning plate 224 is driven by the positioning cylinder 222 to move to the preset position of the unpacking station 2. The unpacking blocking cylinder assembly 23 is arranged below the unpacking station 2. The unpacking blocking cylinder assembly 23 includes an unpacking blocking cylinder fixing part 231, an unpacking blocking cylinder 232, an extension rod 233 and a blocking plate 234. The unpacking blocking cylinder fixing part 231 is arranged below the unpacking station 2. The unpacking blocking cylinder 232 is arranged on the unpacking blocking cylinder fixing part 231. The unpacking blocking cylinder 232 is connected with the extension rod 233. The blocking plate 234 is arranged on one end of the extension rod 233. The unpacking blocking cylinder 232 drives the extension rod 233 to retract, and the blocking plate 234 descends to allow the bucket to pass. The unpacking blocking cylinder 232 drives the extension rod 233 to extend, and the blocking plate 234 rises to a blocking state to block the bucket.

[0093] For further reference Figure 7 In some embodiments, the discharging device 4 includes a discharging frame 45, a detection module 41 and a discharging roller line 43. The discharging roller line 43 is arranged on the discharging frame 45 and is used to convey the buckets. The discharging roller line 43 is provided with a detection station 42. The detection module 41 is arranged on the discharging frame 45 and faces the discharging roller line 43. The detection module 41 is used to detect the buckets entering the detection station 42.

[0094] The detection module 41 is a visual detection module. For further reference Figure 8The visual detection module includes a connecting part 411, a light source 412, an industrial camera 413, an adjusting mechanism 414, and a visual processing module. The connecting part 411 is connected to the unloading frame 45, the light source 412 is fixed to the connecting part 411, the adjusting mechanism 414 is connected to the connecting part 411, the industrial camera 413 is connected to the adjusting mechanism 414, and the visual processing module is connected to the industrial camera 413. The adjusting mechanism 414 is used to adjust the position of the industrial camera 413, the industrial camera 413 is used to acquire the image of the material bucket and send the image to the visual processing module, and the visual processing module is used to determine whether the material bucket is qualified according to the image. Since manual visual detection of the material bucket will also decrease in stability with the extension of the working period, the damaged material bucket may not be found, and the use of the damaged material bucket to place the medicine powder may cause the medicine powder to deteriorate. The detection module 411 is used for detection, the automatic detection capability of the material bucket is improved, the detection efficiency is improved, and the situation that the medicine deteriorates due to the use of the damaged material bucket is reduced.

[0095] The unloading roller line 43 is connected to the next module (for example, the cleaning feeding device 9), and is used to transport the detected material bucket to the cleaning feeding device 9 for cleaning. The unloading roller line 43 is composed of a plurality of rollers, and the operation of the rollers drives the material bucket to move towards the cleaning feeding device 9.

[0096] In some embodiments, the unloading device 4 further includes a second clamping assembly 44. The second clamping assembly 44 is arranged at the end of the unloading roller line 43, and is used to adjust the position of the material bucket on the unloading roller line 43. Please further refer to Figure 9 The second clamping assembly 44 includes a second adjusting part 441, two second clamping plates 442, two second adjusting sliding blocks 443, and at least two second pull rods 444. The second adjusting part 441 is connected to the unloading roller line 43, and a sliding track is arranged on the second adjusting part 441. The second adjusting sliding blocks 443 are slidingly arranged on the sliding track and can slide on the sliding track. The second pull rods 444 are arranged in the second adjusting part 441, one end of the second pull rods 444 is connected to the second adjusting sliding blocks 443, and the other end (the end extending out of the second adjusting part 441) is connected to the second clamping plates 442. When the material bucket reaches the unloading device 4, the two second adjusting sliding blocks 443 slide inward, and the two second clamping plates 442 are retracted inward to clamp the material bucket and fix the material bucket at a relative position on the unloading roller line 43.

[0097] In some embodiments, the system further includes an unqualified material bucket recycling device 5 and a distribution device. The distribution device distributes the material buckets determined to be unqualified by the detection module to the unqualified material bucket recycling device 5, so that the unqualified material buckets are recycled by the unqualified material bucket recycling device 5. The distribution device is arranged below the detection device. When there is an unqualified material bucket, the distribution device pops up from below and pushes the material bucket to the unqualified material bucket recycling device 5.

[0098] In some embodiments, the system further comprises a packing tape collecting device 7. The packing tape collecting device 7 is connected with the unpacking device 3, and the packing tape collecting device 7 is used to collect the packing tape on the box cut by the unpacking mechanism. Please refer to Figure 10-1 and Figure 10-2 The packing tape collecting device 7 comprises a fixed frame 71, a fixed roller 72, a movable roller 73, a first driving assembly 74 and a second driving assembly 75, and the fixed roller 72, the movable roller 73, the first driving assembly 74 and the second driving assembly 75 are all installed on the fixed frame 71; the fixed roller 72 and the movable roller 73 are installed on the same plane of the fixed frame 71, and the axial directions of the fixed roller 72 and the movable roller 73 are parallel to each other; the movable roller 73 is movably connected with the first driving assembly 74, and the first driving assembly 74 is used to drive the movable roller 73 to move, so as to adjust the distance between the fixed roller 72 and the movable roller 73; the second driving assembly 75 is electrically connected with the fixed roller 72 and the movable roller 73 respectively, and the second driving assembly 75 is used to control the rotating motion of the fixed roller 72 and the movable roller 73; the fixed frame 71 is installed on a packing tape collecting box 76, and the packing tape collecting box 76 is used to collect the packing tape falling between the fixed roller 72 and the movable roller 73.

[0099] In the embodiment, the fixed frame 71 is used to fix and support the fixed roller 72, the movable roller 73, the first driving assembly 74 and the second driving assembly 75. The fixed roller 72 can rotate under the driving of the second driving assembly 75, and the position of the fixed roller 72 body is unchanged. The movable roller 73 can rotate under the driving of the second driving assembly 75 and can translate under the driving of the first driving assembly 74, and the position of the movable roller 73 body will change. The first driving assembly 74 is used to control the translation motion state of the movable roller 73, and the distance between the fixed roller 72 and the movable roller 73 is adjusted by controlling the forward displacement or the backward displacement of the movable roller 73. The second driving assembly 75 is used to control the rotating motion state of the fixed roller 72 and the movable roller 73, and the working states such as the rotating start, the rotating stop, the rotating speed and the rotating direction of the fixed roller 72 and the movable roller 73 are adjusted. The packing tape collecting box 76 is installed below the fixed roller 72 and the movable roller 73, and is used to receive the packing tape falling between the fixed roller 72 and the movable roller 73 due to the rotating extrusion.

[0100] The working principle of the packing belt collecting device is as follows: when the packing belt is placed between the fixed roller 72 and the movable roller 73, the first driving assembly 74 controls the movable roller 73 to move towards the position of the fixed roller 72, gradually reducing the distance between the fixed roller 72 and the movable roller 73, so that the fixed roller 72 and the movable roller 73 are tangent to each other, and the packing belt is clamped by the fixed roller 72 and the movable roller 73. Then the second driving assembly 75 controls the fixed roller 72 and the movable roller 73 to start rotating motion, and the rotating directions of the fixed roller 72 and the movable roller 73 are opposite. At this time, the packing belt starts to move downward under the rotating extrusion of the fixed roller 72 and the movable roller 73, and falls into the packing belt collecting box 76. The packing belt can be placed between the fixed roller 72 and the movable roller 73 by an external clamping device, or can be placed between the fixed roller 72 and the movable roller 73 by manual placement, which is not limited here.

[0101] In some embodiments, the packing belt collecting device 7 further comprises a limiting assembly 77; the limiting assembly 77 is installed on the side plane of the fixed frame 71 away from the fixed roller 72 and the movable roller 73, and is used to limit the activity space of the packing belt between the fixed roller 72 and the movable roller 73.

[0102] In this embodiment, the limiting assembly 77 can be installed on the fixed frame 71, and the installation positions of the limiting assembly 77 and the fixed roller 72 and the movable roller 73 are respectively located on the outer side plane and the inner side plane of the fixed frame 71. When the packing belt is placed between the fixed roller 72 and the movable roller 73, the activity space of the packing belt can be limited by the limiting assembly 77, so that the packing belt can be kept between the fixed roller 72 and the movable roller 73, and the situation that the packing belt falls outside the packing belt collecting device is reduced.

[0103] Specifically, the limiting assembly 77 in this embodiment comprises a limiting guide rod 771, a horizontal limiting cylinder 772 and a lifting limiting cylinder 773; the limiting guide rod 771 is connected with the horizontal limiting cylinder 772, the horizontal limiting cylinder 772 is used to drive the limiting guide rod 771 to move horizontally, so as to limit the activity space of the packing belt between the fixed roller 72 and the movable roller 73 in the horizontal direction; the lifting limiting cylinder 773 is fixed on the fixed frame 71, the lifting limiting cylinder 773 is connected with the horizontal limiting cylinder 772, and the lifting limiting cylinder 773 is used to drive the horizontal limiting cylinder 772 to move up and down, thereby driving the limiting guide rod 771 to move up and down, so as to limit the activity space of the packing belt between the fixed roller 72 and the movable roller 73 in the vertical direction.

[0104] In this way, when the packing belt is placed between the fixed roller 72 and the movable roller 73, the horizontal limiting guide rod 771 can be driven by the horizontal limiting cylinder 772 to move horizontally, and then the position of the packing belt in the horizontal direction is adjusted by the horizontal limiting guide rod 771, so that the activity space of the packing belt between the fixed roller 72 and the movable roller 73 in the horizontal direction can be limited; the horizontal limiting cylinder 772 body can be driven by the lifting limiting cylinder 773 to move up and down, so that the horizontal limiting guide rod 771 can move up and down under the driving of the horizontal limiting cylinder 772, and then the position of the packing belt in the vertical direction is adjusted by the horizontal limiting guide rod 771, so that the activity space of the packing belt between the fixed roller 72 and the movable roller 73 in the vertical direction can be limited. In this way, the packing belt can be always limited between the fixed roller 72 and the movable roller 73.

[0105] In addition, the packing belt collecting device further comprises a guide unpowered roller 78.

[0106] In the embodiment, when the fixed roller 72 and the movable roller 73 are started, the packing belt will move downward, but the end of the packing belt will be curled or knotted under the condition of no external compression, and the guide unpowered roller 78 can support the packing belt during the movement of the packing belt, so that the packing belt can be kept in a tensioned state, thereby preventing the packing belt from relaxing and reducing the situation that the packing belt is jammed or interferes with each other, and then the collecting efficiency of the packing belt is improved.

[0107] In some embodiments, the system further comprises a safety fence 8 for safety protection. Specifically, the safety fence 8 comprises a first fence 81, a second fence 82 and a third fence 83, wherein the first fence 81 is connected between the feeding device 1 and the discharging device 4, and is used to isolate the unpacking device 3 from the external environment, and the first fence 81 is provided with a first door body; the second fence 82 is connected between the feeding device 1 and the box recycling device 6, and is used to isolate the unpacking station 2 from the external environment, and the second fence 82 is provided with a second door body; the third fence 83 is connected between the box recycling device 6 and the discharging device 4, and is used to isolate the packing belt collecting device 7 from the external environment.

[0108] In some embodiments, please refer to Figure 11 , Figure 11A cleaning feeding device 9 is shown in the schematic view of the feeding device 9 provided at the end of the discharging roller line 43. The cleaning feeding device 9 comprises a feeding mechanism 91 and a barrel washing machine. The feeding mechanism 91 comprises an extracting part 911 and a moving part 912. The extracting part 911 is arranged on the moving part 912. The moving part 912 can drive the extracting part 911 to move up and down and left and right. When the discharging device 4 transports the barrel to below the extracting part 911, the extracting part 911 clamps the barrel opening. The moving part 912 drives the extracting part 911 to move so as to drive the barrel to move. After the barrel is moved into the barrel washing machine, the extracting part releases the barrel. The barrel is cleaned by the barrel washing machine. The extracting part 911 is composed of a base, two clamping arms and a driving part. The driving part is provided with two telescopic ends at both ends. The clamping arms are connected to any of the telescopic ends of the driving part. The clamping arms displace with the telescopic ends of the driving part. When the two clamping arms are inwardly retracted, the barrel neck is clamped. The barrel is not easy to fall off when clamped. When the two clamping arms are outwardly opened, the barrel neck is released. The base of the extracting part is connected to the moving part. The moving part comprises a linear guide rail and a cylinder. The piston rod of the cylinder is connected to the base of the extracting part. After the extracting part clamps the barrel, the piston rod is retracted to lift the barrel and move along the linear guide rail to send the barrel into the barrel washing machine for cleaning.

[0109] It should be noted that the above invention content and specific embodiments are intended to prove the practical application of the technical solutions provided in the present application, and should not be interpreted as a limitation on the protection scope of the present application. Those skilled in the art can make various modifications, equivalent replacements or improvements within the spirit and principles of the present application. The protection scope of the present application is subject to the appended claims.

Claims

1. A system for processing packaging material, characterized by The utility model relates to a kind of box unpacking device, including: Feeding device (1) is used to feed box loaded with barrel material; Box recycling device (6) is connected with the feeding device (1), and is used to recycle box, and the box recycling device (6) is equipped with unpacking station (2) near one end of the feeding device (1); Discharging device (4) is used to pre-set processing for barrel taken out from box, and output barrel; Unpacking device (3) is arranged between the box recycling device (6) and the discharging device (4), and is used to unpack box loaded with barrel material on the unpacking station (2), and is used to place barrel in box on the discharging device (4); The unpacking device (3) includes: Robot, the robot includes mechanical arm (31); Clamp module (32) is connected to the end of the mechanical arm (31), and the clamp module includes: Connecting platform (323) is connected to the mechanical arm (31) by flange connecting block (327); Visual positioning module (324) is arranged on the connecting platform (323), and is used to position the position to be cut sealing port and the position to be cut packing belt on box; Cutting and picking assembly (321) is arranged on the connecting platform (323), and is used to cut the packing belt on box at the position to be cut packing belt, and is used to pick the cut packing belt; Box cutting piece (325) is arranged on the connecting platform (323), and is used to cut box at the position to be cut sealing port to open box; At least one picking module is arranged on the connecting platform (323), and is used to pick barrel from opened box and transport barrel to target position; The at least one picking module includes first clamping assembly (322), the first clamping assembly (322) includes first adjusting part (3223), two first clamping plates (3221) and two first adjusting sliding blocks (3222), two the first adjusting sliding blocks (3222) are slidably arranged on the first adjusting part (3223), the first adjusting part (3223) is internally provided with first pull rod (3224), one end of the first pull rod (3224) is connected with the first adjusting sliding block (3222), and the other end is connected with the first clamping plate (3221); When two the first adjusting sliding blocks (3222) slide inwards, two the first clamping plates (3221) contract inwards to clamp barrel;When two the first adjusting sliding blocks (3222) slide outwards, two the first clamping plates (3221) open outwards to release barrel;And / or The at least one picking module includes vacuum chuck (326) and vacuum generator, the vacuum generator is communicated with the vacuum chuck (326) by air guide pipe and air guide pump, to provide compressed air to the vacuum chuck (326), so that the vacuum chuck (326) generates negative pressure suction force to suck barrel; The connecting platform (323) is a rectangular plate, the visual positioning module (324) and the first clamping assembly (322) are respectively arranged on two sides of the connecting platform (323) along the width direction, and the shearing pickup assembly (321) and the vacuum chuck (326) are respectively arranged on two sides of the connecting platform (323) along the length direction.

2. The system for processing packaging material according to claim 1, characterized in that, The feeding device (1) comprises: a support (11); a roller assembly (12) mounted on the support (11) and used for conveying the box body in a first direction, the roller assembly (12) comprising a plurality of rollers distributed at intervals along the first direction and capable of rotating about an axis of a second direction; a roller line pushing cylinder assembly (13) mounted at the end of the support (11) and used for pushing the box body loaded with the barrel material to the unpacking station (2).

3. The system for processing packaging material according to claim 1, wherein, The unpacking station (2) is further provided with a visual light source assembly (21), a positioning cylinder assembly (22) and an unpacking blocking cylinder assembly (23); the visual light source assembly (21) comprises a fixed support (211) and a lamp tube (212), the fixed support (211) is fixed on one side of the unpacking station (2), the lamp tube (212) is fixedly connected to the top of the fixed support (211) and located above the unpacking station (2), and is used for providing illumination to the area of the unpacking station (2); the positioning cylinder assembly (22) comprises a fixing piece (221), a positioning cylinder (222), a rod body (223) and a positioning plate (224), the fixing piece (221) is fixed on the fixed support (211) and higher than the unpacking station (2), the rod body (223) is movably arranged on the fixing piece (221), the positioning cylinder (222) is connected with the rod body (223), the positioning plate (224) is connected with the rod body (223), the positioning cylinder (222) drives the rod body (223) to move the positioning plate (224), when the barrel reaches the unpacking station (2), the positioning plate (224) is driven by the positioning cylinder (222) to move, and the positioning plate (224) pushes the barrel to reach the preset position of the unpacking station (2); the unpacking blocking cylinder assembly (23) comprises an unpacking blocking cylinder fixing piece (231), an unpacking blocking cylinder (232), an extension rod (233) and a blocking plate (234), the unpacking blocking cylinder fixing piece (231) is arranged below the unpacking station (2), the unpacking blocking cylinder (232) is arranged on the unpacking blocking cylinder fixing piece (231), the unpacking blocking cylinder (232) is connected with the extension rod (233), the blocking plate (234) is arranged at one end of the extension rod (233), the unpacking blocking cylinder (232) drives the extension rod (233) to contract, and the blocking plate (234) descends to pass the barrel, the unpacking blocking cylinder (232) drives the extension rod (233) to extend, and the blocking plate (234) rises to block the barrel.

4. The system for processing packaging material according to claim 1, wherein, The discharging device (4) comprises: A discharging frame (45); A discharging roller line (43) provided on the discharging frame (45) and used for conveying material barrels, wherein a detection station (42) is arranged on the discharging roller line (43); A detection module (41) arranged on the discharging frame (45) and facing the discharging roller line (43), and used for detecting the material barrels entering the detection station (42) to determine whether the material barrels are qualified.

5. The system for handling packaging material according to claim 4, characterized in that, The detection module (41) comprises a connecting part (411), a light source (412), an industrial camera (413), an adjusting mechanism (414) and a visual processing module; The connecting part (411) is connected to the discharging frame (45), the light source (412) is fixed on the connecting part (411), the adjusting mechanism (414) is connected to the connecting part (411), the industrial camera (413) is connected to the adjusting mechanism (414), the visual processing module is connected to the industrial camera (413), the adjusting mechanism (414) is used for adjusting the position of the industrial camera (413), the industrial camera (413) is used for acquiring an image of a material barrel and sending the image to the visual processing module, and the visual processing module is used for determining whether the material barrel is qualified according to the image.

6. The system for processing packaging material according to claim 4, wherein, Further comprising an unqualified material barrel recycling device (5) and a distribution device, wherein the unqualified material barrel recycling device (5) and the distribution device are arranged on the discharging frame (45), and the distribution device distributes the material barrels determined unqualified by the detection module (41) to the unqualified material barrel recycling device (5) to be recycled by the unqualified material barrel recycling device (5).

7. The system for handling packaging material according to claim 4, wherein, Further comprising a cleaning and conveying device (9), wherein the cleaning and conveying device (9) is arranged at the end of the discharging roller line (43), the cleaning and conveying device (9) comprises a conveying mechanism (91) and a barrel washing machine, the conveying mechanism (91) is used for conveying the material barrels determined qualified to the barrel washing machine for cleaning, the conveying mechanism (91) comprises a lifting part (911) and a moving part (912), the lifting part (911) is used for lifting the material barrels, and the moving part (912) is connected to the lifting part (911) to drive the lifting part (911) to move.

8. The system for processing packaging material according to claim 1, wherein, Further comprising a packing belt collecting device (7), wherein the packing belt collecting device (7) is connected to the unpacking device (3), and the packing belt collecting device (7) is used for collecting the packing belts cut by the unpacking device (3); The packing belt collecting device (7) comprises a fixed frame (71), a fixed roller (72), a movable roller (73), a first driving assembly (74), a second driving assembly (75) and a packing belt collecting box (76); The fixed roller (72), the movable roller (73), the first driving assembly (74) and the second driving assembly (75) are all mounted on the fixed frame (71); The fixed roller (72) and the movable roller (73) are installed on the same plane of the fixed frame (71), and the axial directions of the fixed roller (72) and the movable roller (73) are parallel to each other; The movable roller (73) is movably connected with the first driving assembly (74), and the first driving assembly (74) is used for driving the movable roller (73) to move, so as to adjust the distance between the fixed roller (72) and the movable roller (73); The second driving assembly (75) is electrically connected with the fixed roller (72) and the movable roller (73) respectively, and the second driving assembly (75) is used for controlling the rotating action of the fixed roller (72) and the movable roller (73); The fixed frame (71) is installed on the packing belt collecting box (76), and the packing belt collecting box (76) is used for collecting the packing belt falling between the fixed roller (72) and the movable roller (73).

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