Automatic loading and unloading packaging automatic disassembly and separation equipment

Abstract

The present invention discloses an automatic packaging disassembly and separation device with automatic loading and unloading, comprising an automatic adsorption transfer mechanism, a positioning placement and conveying mechanism, an automatic disassembly mechanism, and a separation mechanism. The automatic adsorption transfer mechanism is used to transfer the packaging to the positioning hole of the positioning placement and conveying mechanism; the automatic disassembly mechanism includes a pressing claw mechanism and a cutting mechanism. The pressing claw mechanism is used to stretch the deformed and folded edges of the packaging bag of the packaging at the positioning hole and press the stretched edges against the positioning placement and conveying mechanism; the cutting mechanism is used to cut the packaging bag and simultaneously separate the workpiece from the cut packaging bag; and the separation mechanism is used to separate the cut packaging bag at the positioning hole from the positioning placement and conveying mechanism and collect the cut packaging bag. The present invention is not only suitable for disassembling packaging bags with significantly deformed edges, but also for disassembling packaging bags with edges folded 90 degrees around the workpiece. While improving the yield rate, the disassembly success rate can reach 100%.

Description

Technical Field

[0001] The present invention relates to the technical fields of powder metallurgy, pharmacy, food and mechanical equipment manufacturing, and in particular to an automatic disassembly and separation device for packaging materials with automatic loading and unloading. Background Art

[0002] Currently, spherical fuel elements for pebble-bed high-temperature gas-cooled reactors are manufactured using an isostatic pressing process. This involves vacuum-packing the pre-pressed elements with stretch film approximately 0.15 to 0.2 mm thick. These elements are then randomly stacked and placed in a barrel for high-pressure pressing. After pressing, the stacks are left to dry before the packaging is removed. Due to the high compression ratio of the workpiece during the preparation process, and the frequent and prolonged stacking of the packaging, the packaging around the workpiece can deform and fold.

[0003] There is currently a dismantling device for plastic-wrapped packaging, which solves the problem of dismantling packaging with little deformation of the packaging film around the workpiece, such as when the height difference of the packaging film after deformation is less than 3mm. However, for packaging with large deformation of the packaging film, especially folded packaging, the dismantling success rate is low, and there is a phenomenon that the workpiece surface is scratched by the tool, resulting in an increased scrap rate. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide an automatic packaging disassembly and separation device with automatic loading and unloading. The device is suitable not only for disassembling packaging bags with significantly deformed edges, but also for disassembling packaging bags with edges folded 90 degrees around the workpiece. This device improves the yield rate and achieves a 100% disassembly success rate.

[0005] The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to the embodiment of the present invention is characterized by comprising a support mechanism, an automatic adsorption and transfer mechanism, a positioning, placement and conveying mechanism, an automatic disassembly mechanism, a separation mechanism and a control system;

[0006] Wherein, the positioning, placement and conveying mechanism, the automatic disassembly mechanism and the separation mechanism are arranged on the support mechanism, and the automatic disassembly mechanism and the separation mechanism are respectively suspended above the positioning, placement and conveying mechanism;

[0007] The automatic adsorption and transfer mechanism is used to adsorb the packaging and transfer the packaging to the positioning hole of the positioning, placement and conveying mechanism;

[0008] The positioning placement and conveying mechanism is used to convey the packaging at the positioning hole to the corresponding station of the automatic disassembly mechanism;

[0009] The automatic disassembly mechanism includes a pressing claw mechanism and a cutting mechanism, wherein the pressing claw mechanism is used to stretch the deformed and folded edge of the packaging bag of the packaged object at the positioning hole and press the stretched edge against the positioning placement and conveying mechanism, and the cutting mechanism is used to cut the packaging bag into a non-closed annular shape after the pressing claw mechanism presses the edge of the packaging bag, and simultaneously separate the workpiece from the cut packaging bag and drop it from the positioning hole;

[0010] The positioning placement and conveying mechanism is used to convey the cut packaging bag remaining at the positioning hole to the corresponding station of the separation mechanism;

[0011] The separation mechanism is used to separate the packaging bags cut at the positioning holes from the positioning placement and conveying mechanism and collect the cut packaging bags;

[0012] The control system is used to start the automatic disassembly and separation equipment for packaging materials with automatic loading and unloading, and controls the operation of the automatic adsorption and transfer mechanism, the positioning, placement and conveying mechanism, the automatic disassembly mechanism and the separation mechanism.

[0013] The automatic disassembly and separation equipment for automatic loading and unloading of packaging materials in the embodiment of the present invention, when working, transfers the packaging materials from the packaging material accumulation area or the single-layer packaging material placement area to the positioning hole of the positioning placement and conveying mechanism through the automatic adsorption transfer machine to realize positioning and placement, and then through the movement of the positioning placement and conveying mechanism, the positioning hole and the packaging materials at the positioning hole are placed at the work station corresponding to the automatic disassembly mechanism, and then the deformed and folded edges of the packaging bag of the packaging material are stretched by the pressure claw mechanism, and then the stretched edges are pressed, and then the packaging bag is cut by the cutter mechanism, and at the same time, the workpiece and the cut packaging bag are separated; after the cutter mechanism completes cutting the packaging bag, the pressure claw mechanism moves upward, and the cut packaging bag remains at the positioning hole. At this time, the positioning hole and the cut packaging bag are conveyed to the work station corresponding to the separation mechanism through the positioning placement and conveying mechanism, and the cut packaging bag is separated from the positioning placement and conveying mechanism through the separation mechanism.

[0014] The automatic disassembly and separation equipment for packaging materials with automatic loading and unloading according to the embodiment of the present invention can complete the positioning, adsorption, transfer, positioning, placement, and transportation of packaging materials, the disassembly of packaging materials and the separation of workpieces after disassembly, and the separation of packaging bags from positioning, conveying, and conveying mechanisms after disassembly. In particular, the pressure claw mechanism stretches the deformed and folded edges of the packaging bag and presses the stretched edges, ensuring that the cutter can accurately cut the packaging bag without scratching the workpiece. It is not only suitable for disassembling packaging bags with large deformation of the edges, but also suitable for disassembling packaging bags with the edges of the packaging bags folded to 90 degrees around the workpiece. While improving the yield rate, the success rate of disassembly can reach 100%. Experiments have shown that the success rate of disassembly and the yield rate of products can reach 100%, and the efficiency of single-station disassembly is not less than 360 pieces / hour.

[0015] In some embodiments, the automatic adsorption transfer mechanism includes an identification module, a robot and a vacuum suction cup arranged at the end of the robot; the identification module is used to identify the adsorption surface of the packaging; the robot uses the vacuum suction cup to adsorb the adsorption surface of the packaging according to the identification information, and then transfers it to the positioning hole for positioning and placement.

[0016] In some embodiments, the vacuum degree of the vacuum chuck is 0.02-0.06 MPa.

[0017] In some embodiments, the positioning, placement and conveying mechanism includes a positioning turntable and a first driving device. The positioning turntable is provided with the positioning holes. The first driving device drives the positioning turntable to rotate for conveying the packaging materials and the cut packaging bags.

[0018] In some embodiments, the accuracy of the robot arm in sucking and placing packages is no higher than 0.05 mm, and the rotation repeatability of the positioning turntable is no higher than 5 radians per second.

[0019] In some embodiments, the pressure claw mechanism includes: a ring column platform, a disc, multiple pressure claws, multiple sliders, an elastic reset member and a first driving mechanism; the upper end of the ring column platform is connected to the supporting mechanism, the outer peripheral surface of the lower section of the ring column platform is a conical surface, the disc is sleeved outside the ring column platform, multiple pressure claws are circumferentially distributed around the outer periphery of the ring column platform and the upper ends of multiple pressure claws are rotatably connected to the disc, multiple sliders are correspondingly fixed on the inner side of the pressure claw and multiple sliders can be slid up and down and supported on the conical surface, and the elastic reset member is annular The first driving mechanism is connected to the face plate to drive the face plate, the plurality of pressure claws, the plurality of sliders and the reset elastic member to move up and down, and to make the plurality of pressure claws open when moving downward, and the pressure claws move from the middle of the raised surface of the packaging bag to the edge of the packaging bag while opening, so that the deformed and folded edge of the packaging bag is stretched and the stretched edge is pressed against the positioning, placement and conveying mechanism; the elastic reset member causes the plurality of pressure claws to retract when the first driving mechanism drives the plurality of pressure claws to move upward.

[0020] In some embodiments, the first driving mechanism includes a first cylinder, a top plate and a pull rod, the first cylinder is supported on the supporting mechanism, the top plate is located above the first cylinder and is connected to the first cylinder, the upper end of the pull rod is connected to the top plate, and the lower end of the pull rod is connected to the disc.

[0021] In some embodiments, the cutter mechanism includes: a cutter and a second drive mechanism; the cutter is a non-closed annular cutter and is located on the inner side of the ring column, and the second drive mechanism is connected to the cutter to drive the cutter to move up and down; when the second drive mechanism drives the cutter to move downward, the cutter is used to cut the packaging bag.

[0022] In some embodiments, the second driving mechanism includes a guide rod and a second cylinder, the second cylinder is supported on the supporting mechanism, the upper end of the guide rod is connected to the second cylinder, and the cutter is fixed on the guide rod; the second cylinder drives the guide rod and the cutter to move up and down synchronously; when the second driving mechanism drives the guide rod and the cutter to move downward, while the cutter cuts the packaging bag, the lower end of the guide rod pushes the workpiece downward and makes the workpiece fall.

[0023] In some embodiments, the separation mechanism includes a second driving device and a push rod, one end of the push rod is connected to the second driving device, and the push rod is driven by the second driving device to push away the packaging bag cut at the positioning hole; or, the separation mechanism is an air suction system, which is used to suck away the packaging bag cut at the positioning hole.

[0024] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0026] Figure 1 3D schematic diagram of an automatic disassembly and separation device for automatic loading and unloading of packages according to an embodiment of the present invention;

[0027] Figure 2 2. It is a top view of the automatic disassembly and separation device for automatic loading and unloading of packages according to an embodiment of the present invention;

[0028] Figure 3 2 is a cross-sectional schematic diagram of an automatic disassembly mechanism in an automatic disassembly and separation device for automatic loading and unloading of packages according to an embodiment of the present invention;

[0029] Figure 4 It is a process flow chart of the automatic disassembly and separation equipment for automatic loading and unloading of packaging materials according to an embodiment of the present invention.

[0030] Reference numerals

[0031] Support mechanism 1; automatic adsorption and transfer mechanism 2; identification module 201; manipulator 202; vacuum suction cup 203; positioning, placement and conveying mechanism 3; positioning turntable 301; positioning hole 3011; first driving device 302; automatic disassembly mechanism 4; pressure claw mechanism 401; ring column platform 4011; disc 4012; pressure claw 4013; slider 4014; elastic reset member 4015; first cylinder 4016; top plate 4017; pull rod 4018; cutter mechanism 402; cutter 4021; guide rod 4022; second cylinder 4023; guide rod sleeve 4024; separation mechanism 5; second driving device 501; push rod 502. DETAILED DESCRIPTION

[0032] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0033] The following combination Figures 1 to 4 The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to the embodiment of the present invention is described.

[0034] like Figures 1 to 4 As shown, the automatic disassembly and separation equipment for packaging with automatic loading and unloading according to an embodiment of the present invention is an equipment for automatically disassembling the packaging bag of a single spherical workpiece vacuum-packed in a single packaging bag and automatically separating the workpiece and the packaging bag after disassembly. In particular, it is used for the transportation and transfer of plastic packaging materials in the isostatic pressing preparation process, the automatic disassembly of the packaging bag, and the separation of the packaging bag and the workpiece after disassembly.

[0035] The automatic disassembly and separation equipment for automatic loading and unloading of packaging materials in the embodiment of the present invention includes a support mechanism 1, an automatic adsorption transfer mechanism 2, a positioning placement and conveying mechanism 3, an automatic disassembly mechanism 4, a separation mechanism 5 and a control system (not shown in the figure).

[0036] Among them, the support mechanism 1 is provided with a positioning, placement and conveying mechanism 3, an automatic disassembly mechanism 4 and a separation mechanism 5. In other words, the main function of the support mechanism 1 is to fix and support the positioning, placement and conveying mechanism 3, the automatic disassembly mechanism 4 and the separation mechanism 5. The automatic disassembly mechanism 4 and the separation mechanism 5 are respectively suspended above the positioning, placement and conveying mechanism 3. In this way, it is convenient for the positioning, placement and conveying mechanism 3 to convey the packaging materials to the workstation corresponding to the automatic disassembly mechanism 4, which is directly below the automatic disassembly mechanism 4; at the same time, it is also convenient for the positioning, placement and conveying mechanism 3 to convey the cut packaging bags to the workstation corresponding to the separation mechanism 5, which is directly below the separation mechanism 5.

[0037] The automatic suction and transfer mechanism 2 is used to suction packages and transfer them to the positioning holes 3011 of the positioning, placement, and conveying mechanism 3. It is understood that the automatic suction and transfer mechanism 2 suctions one package at a time from the stacked, disorderly, or single-layered packages and transfers it to one of the positioning holes 3011 of the positioning, placement, and conveying mechanism 3, positioning and supporting the package through the positioning holes 3011. In other words, the positioning, placement, and conveying mechanism 3 has a positioning and support function.

[0038] The positioning, placement and conveying mechanism 3 is used to convey the packages at the positioning hole 3011 to the corresponding workstation of the automatic disassembly mechanism 4 .

[0039] The automatic disassembly mechanism 4 includes a pressing claw mechanism 401 and a cutting mechanism 402; the pressing claw mechanism 401 is used to stretch the deformed and folded edge of the packaging bag of the packaging material at the positioning hole 3011 and press the stretched edge onto the positioning, placement and conveying mechanism 3, so that the cutting mechanism 402 can accurately cut the packaging bag to prevent the cutting mechanism 402 from cutting the packaging material and scratching the workpiece in the packaging bag when the packaging material moves; the cutting mechanism 402 is used to perform a non-closed annular cutting on the packaging bag after the pressing claw mechanism 401 presses the edge of the packaging bag, so that the packaging bag after cutting is still one, which is convenient for subsequent processes to separate the cut packaging bag from the positioning, placement and conveying mechanism 3. At the same time, the cut packaging bag has an incision, which can enable the workpiece to be separated from the cut packaging bag by its own weight or external force and fall from the positioning hole 3011, thereby realizing the separation of the workpiece and the packaging bag.

[0040] The positioning, placement and conveying mechanism 3 is used to convey the cut packaging bags remaining at the positioning hole 3011 to the corresponding station of the separation mechanism.

[0041] The separation mechanism 5 is used to separate the packaging bags cut at the positioning holes 3011 from the positioning, placement and conveying mechanism 3 to collect the cut packaging bags.

[0042] The control system is used to start the automatic disassembly and separation equipment of the packaging materials with automatic loading and unloading, and controls the operation of the automatic adsorption transfer mechanism 2, the positioning placement and conveying mechanism 3, the automatic disassembly mechanism 4 and the separation mechanism.

[0043] The automatic disassembly and separation equipment for automatically loading and unloading packaging according to the embodiment of the present invention is as follows: Figure 4As shown, the packaging material is transferred from the packaging material accumulation area or the single-layer packaging material placement area to the positioning hole 3011 of the positioning placement and conveying mechanism 3 through the automatic adsorption transfer machine to achieve positioning and placement, and then the positioning hole 3011 and the packaging material at the positioning position are placed at the corresponding workstation of the automatic disassembly mechanism 4 through the movement of the positioning placement and conveying mechanism 3, and then the deformed and folded edges of the packaging bag of the packaging material are stretched by the pressure claw mechanism 401, and then the stretched edges are pressed, and then the packaging bag is cut by the cutter mechanism 402, and at the same time, the workpiece and the cut packaging bag are separated; after the cutter mechanism 402 completes cutting the packaging bag, the pressure claw mechanism moves up, and the cut packaging bag remains at the positioning hole 3011. At this time, the positioning hole 3011 and the cut packaging bag are conveyed to the corresponding workstation of the separation mechanism 5 through the positioning placement and conveying mechanism 3, and the separation of the cut packaging bag and the positioning placement and conveying mechanism 3 is achieved through the separation mechanism 5.

[0044] The automatic packaging disassembly and separation equipment with automatic loading and unloading according to the embodiment of the present invention can complete the positioning, adsorption, transfer, positioning, placement, and transportation of packaging, the disassembly of packaging, the separation of workpieces after disassembly, and the separation of the disassembled packaging bag from the positioning, conveying, and conveying mechanism. In particular, the positioning and placement of the packaging can be achieved through the adsorption accuracy of the vacuum suction cup 203 and the rotation repeatability of the turntable. The pressure claw mechanism 401 stretches and compresses the deformed and folded edges of the packaging bag, ensuring that the cutter 4021 accurately cuts the packaging bag without scratching the workpiece. This equipment is not only suitable for disassembling packaging bags with large deformation edges, but also for disassembling packaging bags with edges folded 90 degrees around the workpiece. While improving the yield rate, the disassembly success rate is 100%. Experiments have shown that the disassembly success rate and product yield can reach 100%, and the efficiency of single-station disassembly is no less than 360 pieces per hour.

[0045] In some embodiments, the automatic adsorption transfer mechanism 2 includes an identification module 201, a manipulator 202 and a vacuum suction cup 203 arranged at the end of the manipulator 202; the identification module 201 is used to identify the adsorption surface of the packaging, and the identification module 201 can be a 3D camera, which can be set on the support mechanism 1; the manipulator 202 uses the vacuum suction cup 203 to adsorb the adsorption surface of the packaging according to the identification information, and then transfers it to the positioning hole 3011 for positioning and placement.

[0046] In some embodiments, the vacuum degree of the vacuum cup 203 is 0.02-0.06 MPa. This allows for stable suction of the spherical workpiece packaging. Preferably, the vacuum degree of the vacuum cup 203 is 0.05 MPa, and the cup diameter is 2.5-5 mm.

[0047] In some embodiments, the positioning, placement, and conveying mechanism 3 includes a positioning turntable 301 and a first drive device 302. Positioning holes 3011 are provided on the positioning turntable 301. The drive device drives the positioning turntable 301 to rotate, thereby conveying the packages and cut bags. Specifically, the positioning turntable 301 is horizontally disposed and has multiple positioning holes 3011 spaced evenly around the circumference. The first drive device 302 is a motor that drives the turntable to rotate, thereby conveying the packages and cut bags.

[0048] In some embodiments, the accuracy of the robot arm 202 in sucking and placing packages is no greater than 0.05 mm, and the rotation repeatability of the positioning turntable is no greater than 5 radians per second. Thus, the positioning and placement of packages can be accomplished through the suction accuracy of the vacuum suction cup 203 and the rotation repeatability of the turntable.

[0049] In some embodiments, the pressure claw mechanism 401 includes: a ring column platform 4011, a disc 4012, a plurality of pressure claws 4013, a plurality of sliders 4014, an elastic reset member 4015 and a first driving mechanism; the upper end of the ring column platform 4011 is connected to the support mechanism 1, the outer peripheral surface of the lower section of the ring column platform 4011 is a conical surface, the disc 4012 is sleeved outside the ring column platform 4011, a plurality of pressure claws 4013 are circumferentially distributed around the outer periphery of the ring column platform 4011 and the upper ends of the plurality of pressure claws 4013 are rotatably connected to the disc 4012, a plurality of sliders 4014 are correspondingly fixed on the inner side of the pressure claw 4013 and the plurality of sliders 4014 can be slidably supported on the conical surface up and down, and the elastic reset member 4015 is provided. Part 4015 is annular and is arranged on the outer side of multiple pressure claws 4013. The first driving mechanism is connected to the disc 4012, and is used to drive the disc 4012, multiple pressure claws 4013, multiple sliders 4014 and the reset elastic member to move up and down, and make the multiple pressure claws 4013 open through the conical surface supporting slider 4014 when moving downward, and the pressure claws 4013 move from the middle of the raised surface of the packaging bag to the edge of the packaging bag while opening, so that the deformed folded edge of the packaging bag is stretched and the stretched edge is pressed against the positioning, placement and conveying mechanism 3; the elastic reset part 4015 causes the multiple pressure claws 4013 to retract when the first driving mechanism drives the multiple pressure claws 4013 to move upward.

[0050] In some embodiments, when the multiple pressing jaws 4013 are retracted and reset, the diameter of the circle formed by the pressing blocks at the ends of the multiple pressing jaws 4013 is 35 mm; when the multiple pressing jaws 4013 are opened, the diameter of the circle formed by the pressing blocks at the ends of the multiple pressing jaws 4013 is 85 mm. The travel between the maximum open position and the retracted position of the multiple pressing jaws 4013 is 39 mm. This facilitates unfolding the deformed and folded edges of the packaging bag while also compressing the stretched edges.

[0051] In some embodiments, the elastic reset member 4015 is an annular spring that retracts the plurality of pressing claws 4013 when the first driving mechanism drives the plurality of pressing claws 4013 to move upward.

[0052] In some embodiments, the first driving mechanism includes a first cylinder 4016, a top plate 4017 and a pull rod 4018. The first cylinder 4016 is supported on the supporting mechanism 1. The top plate 4017 is located above the first cylinder 4016 and is connected to the first cylinder 4016. The upper end of the pull rod 4018 is connected to the top plate 4017, and the lower end of the pull rod 4018 is connected to the flower disc 4012. Therefore, when the first cylinder 4016 drives the top plate 4017 to move up and down, the pull rod 4018 will drive the disc 4012, multiple pressure claws 4013, multiple sliders 4014 and the reset elastic member to move up and down accordingly, and make the multiple pressure claws 4013 open through the conical surface support slider 4014 when moving downward, and the pressure claws 4013 move from the middle of the raised surface of the packaging bag to the edge of the packaging bag while opening, so that the deformed folded edge of the packaging bag is stretched and the stretched edge is pressed against the positioning, placement and conveying mechanism 3; the elastic reset member 4015 causes the multiple pressure claws 4013 to retract when the first driving mechanism drives the multiple pressure claws 4013 to move upward.

[0053] In some embodiments, the cutter mechanism 402 includes a cutter 4021 and a second drive mechanism. The cutter 4021 is a non-enclosed annular cutter 4021 located inside the annular column 4011. The second drive mechanism is connected to the cutter 4021 and drives the cutter 4021 to move up and down. When the second drive mechanism drives the cutter 4021 downward, the cutter 4021 cuts the packaging bag. The workpiece separates from the cut packaging bag due to its own gravity or other external force and falls into the positioning hole 3011. It should be noted that when the cutter 4021 cuts the packaging bag, the workpiece is located within the ring of the non-enclosed annular cutter 4021. In some embodiments, the cutter 4021 is a circular toothed cutter 4021 with an opening of 300 to 350 degrees. The diameter of the cutter 4021 is adapted to the size of the spherical workpiece.

[0054] In some embodiments, the second driving mechanism includes a guide rod 4022 and a second cylinder 4023, the second cylinder 4023 is supported on the supporting mechanism 1, the upper end of the guide rod 4022 is connected to the second cylinder 4023, and the cutter 4021 is fixed on the guide rod 4022; the second cylinder 4023 drives the guide rod 4022 and the cutter 4021 to move up and down synchronously; when the second driving mechanism drives the guide rod 4022 and the cutter 4021 to move downward, while the cutter 4021 cuts the packaging bag, the lower end of the guide rod 4022 pushes the workpiece downward and causes the workpiece to fall.

[0055] It should be noted that the second cylinder 4023 is fixed on the support mechanism 1 through the cylinder seat, and the second cylinder 4016 is arranged on the upper part of the second cylinder 4026, and the overall structure is relatively compact.

[0056] In some embodiments, the second driving mechanism further includes a guide rod sleeve 4024, which is sleeved outside the guide rod 4022 and located at the lower surface of the top of the cutter 4021. The guide rod sleeve 4024 guides the guide rod 4022.

[0057] In some embodiments, the separation mechanism 5 includes a second drive device 501 and a push rod 502. One end of the push rod 502 is connected to the second drive device 501. Driven by the second drive device 501, the push rod 502 pushes away the packaging bag cut at the positioning hole 3011. Alternatively, the separation mechanism 5 is an air suction system for sucking away the packaging bag cut at the positioning hole 3011. Optionally, the second drive device 501 is a third air cylinder.

[0058] Throughout this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" indicate that the specific features, structures, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0059] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An automatic disassembly and separation device for packaging with automatic loading and unloading, characterized in that: It includes a supporting mechanism, an automatic adsorption and transfer mechanism, a positioning, placement and conveying mechanism, an automatic disassembly mechanism, a separation mechanism and a control system; Wherein, the positioning, placement and conveying mechanism, the automatic disassembly mechanism and the separation mechanism are arranged on the support mechanism, and the automatic disassembly mechanism and the separation mechanism are respectively suspended above the positioning, placement and conveying mechanism; The automatic adsorption and transfer mechanism is used to adsorb the packaging and transfer the packaging to the positioning hole of the positioning, placement and conveying mechanism; The positioning placement and conveying mechanism is used to convey the packaging at the positioning hole to the corresponding station of the automatic disassembly mechanism; The automatic disassembly mechanism includes a pressing claw mechanism and a cutting mechanism, wherein the pressing claw mechanism is used to stretch the deformed and folded edge of the packaging bag of the packaged object at the positioning hole and press the stretched edge against the positioning placement and conveying mechanism, and the cutting mechanism is used to cut the packaging bag into a non-closed annular shape after the pressing claw mechanism presses the edge of the packaging bag, and simultaneously separate the workpiece from the cut packaging bag and drop it from the positioning hole; The positioning placement and conveying mechanism is used to convey the cut packaging bag remaining at the positioning hole to the corresponding station of the separation mechanism; The separation mechanism is used to separate the packaging bags cut at the positioning holes from the positioning placement and conveying mechanism and collect the cut packaging bags; The control system is used to start the automatic disassembly and separation equipment for packaging materials with automatic loading and unloading and to control the operation of the automatic adsorption and transfer mechanism, the positioning, placement and conveying mechanism, the automatic disassembly mechanism and the separation mechanism.

2. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 1 is characterized in that: The automatic adsorption and transfer mechanism includes an identification module, a robot and a vacuum suction cup arranged at the end of the robot; the identification module is used to identify the adsorption surface of the packaging; the robot uses the vacuum suction cup to adsorb the adsorption surface of the packaging according to the identification information, and then transfers it to the positioning hole for positioning and placement.

3. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 2 is characterized in that: The vacuum degree of the vacuum chuck is 0.02-0.06 MPa.

4. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 2 is characterized in that: The positioning, placement and conveying mechanism includes a positioning turntable and a first driving device. The positioning turntable is provided with the positioning holes. The first driving device drives the positioning turntable to rotate for conveying the packaging materials and the cut packaging bags.

5. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 4 is characterized in that: The accuracy of the manipulator in sucking and placing packages is no higher than 0.05 mm, and the rotation repeatability of the positioning turntable is no higher than 5 radians per second.

6. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 1 is characterized in that: The pressure claw mechanism includes: a ring column platform, a disc, multiple pressure claws, multiple sliders, an elastic reset member and a first driving mechanism; the upper end of the ring column platform is connected to the supporting mechanism, the outer peripheral surface of the lower section of the ring column platform is a conical surface, the disc is sleeved outside the ring column platform, multiple pressure claws are circumferentially distributed around the outer periphery of the ring column platform and the upper ends of multiple pressure claws are rotatably connected to the disc, multiple sliders are correspondingly fixed on the inner side of the pressure claws and multiple sliders can be slid up and down and supported on the conical surface, the elastic reset member is annular and is arranged on the ring The outer side of the multiple pressure claws, the first driving mechanism is connected to the face plate, and is used to drive the face plate, the multiple pressure claws, the multiple sliders and the elastic reset member to move up and down, and make the multiple pressure claws open when moving downward, and the pressure claws move from the middle of the raised surface of the packaging bag to the edge of the packaging bag while opening, so that the deformed folded edge of the packaging bag is stretched and the stretched edge is pressed against the positioning, placement and conveying mechanism; the elastic reset member causes the multiple pressure claws to retract when the first driving mechanism drives the multiple pressure claws to move upward.

7. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 6 is characterized in that: The first driving mechanism includes a first cylinder, a top plate and a pull rod. The first cylinder is supported on the supporting mechanism. The top plate is located above the first cylinder and is connected to the first cylinder. The upper end of the pull rod is connected to the top plate, and the lower end of the pull rod is connected to the disc.

8. The automatic disassembly and separation equipment for packaging materials with automatic loading and unloading according to claim 6 or 7, characterized in that: The cutter mechanism includes: a cutter and a second drive mechanism; the cutter is a non-closed annular cutter and is located on the inner side of the ring column platform; the second drive mechanism is connected to the cutter and drives the cutter to move up and down; when the second drive mechanism drives the cutter to move downward, the cutter is used to cut the packaging bag.

9. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 8 is characterized in that: The second driving mechanism includes a guide rod and a second cylinder, the second cylinder is supported on the supporting mechanism, the upper end of the guide rod is connected to the second cylinder, and the cutter is fixed on the guide rod; the second cylinder drives the guide rod and the cutter to move up and down synchronously; when the second driving mechanism drives the guide rod and the cutter to move downward, while the cutter cuts the packaging bag, the lower end of the guide rod pushes the workpiece downward and causes the workpiece to fall.

10. The automatic disassembly and separation equipment for packaging with automatic loading and unloading according to claim 1 is characterized in that: The separation mechanism includes a second driving device and a push rod, one end of the push rod is connected to the second driving device, and the push rod is driven by the second driving device to push away the packaging bag cut at the positioning hole; Alternatively, the separation mechanism is an air suction system, and the air suction system is used to suck away the packaging bag cut at the positioning hole.

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