Automated bale opening apparatus and method of controlling the same

Abstract

The application discloses an automatic unpacking device and a control method thereof. The automatic unpacking device comprises a material placing platform, a positioning device and a material taking and cutting device. The positioning device comprises front and rear positioning mechanisms and left and right positioning mechanisms. The material taking and cutting device comprises a cutting mechanism, a material taking mechanism and a moving platform. When unpacking, the moving platform drives the material taking mechanism to place the material to be unpacked on the material platform first. Then, the front and rear side edges of the packaging of the material to be unpacked are pressed by the front and rear positioning mechanisms, and the left and right side edges of the packaging of the material to be unpacked are pressed by the left and right positioning mechanisms. Next, the moving platform drives the cutting mechanism to cut the packaging along the front and rear side edges and the left and right side edges of the packaging of the material to be unpacked, so as to complete the unpacking of the material to be unpacked. Finally, the moving platform drives the material taking mechanism to take out the unpacked material. Thus, the automatic unpacking of the PCB is completed, the unpacking efficiency is improved, and the PCB is prevented from being scratched.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automation, in particular to an automatic unpacking device and a control method thereof. BACKGROUND

[0002] In the related art, the PCB used to manufacture the main board of the air conditioner control system is stacked together when it is delivered and is vacuum packaged, so before use, the vacuum package needs to be manually cut open with a small knife, and then the PCB is taken out, and this operation is repeated. However, this unpacking method has the following disadvantages: first, manual operation is monotonous and easy to fatigue after a long time, which may scratch the PCB; second, manual unpacking has low automation, and the sharp increase in labor costs causes waste of human resources. SUMMARY

[0003] Embodiments of the present application provide an automatic unpacking device and a control method thereof, aiming to solve the problems of easy scratching of the PCB and low unpacking efficiency in the prior art.

[0004] The present application provides an automatic unpacking device, comprising: a material placing platform, a positioning device, and a material taking and cutting device,

[0005] The material placing platform is used to place the material to be unpacked;

[0006] The positioning device comprises front and rear positioning mechanisms and left and right positioning mechanisms, the front and rear positioning mechanisms are arranged on the front and rear sides of the material placing platform, and the front and rear positioning mechanisms are used to press the front and rear sides of the packaging of the material to be unpacked, the left and right positioning mechanisms are arranged on the left and right sides of the material placing platform, and the left and right positioning mechanisms are used to press the left and right sides of the packaging of the material to be unpacked;

[0007] The material taking and cutting device comprises a cutting mechanism, a material taking mechanism, and a moving platform, the moving platform is used to drive the cutting mechanism and the material taking mechanism to move, the cutting mechanism is used to move along the front and rear sides and the left and right sides of the packaging of the material to be unpacked to cut the packaging and complete the unpacking of the material to be unpacked, and the material taking mechanism is used to grasp the material to be unpacked and the unpacked material.

[0008] In the automatic unpacking device provided by the present application, the cutting mechanism comprises front and rear cutting pieces, left and right cutting pieces, a cutting piece mounting plate, and a first rotary driving piece, the first rotary driving piece is mounted on the moving platform, the front and rear cutting pieces and the left and right cutting pieces are both mounted on the cutting piece mounting plate, and the first rotary driving piece is used to drive the cutting piece mounting plate to rotate to switch the front and rear cutting pieces and the left and right cutting pieces.

[0009] In the automatic unpacking device, the cutting member mounting plate comprises a first rotating plate body, a first mounting plate body and a second mounting plate body, the first rotating plate body is connected with the first rotating driving member, the first mounting plate body and the second mounting plate body are connected with the first rotating plate body and the first mounting plate body and the second mounting plate body are perpendicular to each other, the front and rear cutting members are mounted on the first mounting plate body, and the left and right cutting members are mounted on the second mounting plate body.

[0010] In the automatic unpacking device, a cover plate is arranged on the surface of the second mounting plate body, the left and right cutting members are clamped between the second mounting plate body and the cover plate so that the left and right cutting members are parallel to the second mounting plate body, the first mounting plate body is provided with a mounting groove, the mounting groove is perpendicular to the surface of the first mounting plate body, and the front and rear cutting members are embedded in the mounting groove so that the front and rear cutting members are perpendicular to the first mounting plate body.

[0011] In the automatic unpacking device, the material taking mechanism comprises a material taking and adsorbing assembly for adsorbing the material to be unpacked and the package of the material to be unpacked, a material taking and clamping assembly for clamping the unpacked material, a material taking assembly mounting plate and a second rotating driving member, the second rotating driving member is mounted on the moving platform, the material taking and adsorbing assembly and the material taking and clamping assembly are mounted on the material taking assembly mounting plate, and the second rotating driving member is used for driving the material taking assembly mounting plate to rotate so as to switch the material taking and adsorbing assembly and the material taking and clamping assembly.

[0012] In the automatic unpacking device, the material taking assembly mounting plate comprises a second rotating plate body, a third mounting plate body and a fourth mounting plate body, the second rotating plate body is connected with the second rotating driving member, the third mounting plate body and the fourth mounting plate body are connected with the second rotating plate body and the third mounting plate body and the fourth mounting plate body are perpendicular to each other, the material taking and adsorbing assembly is mounted on the third mounting plate body, and the material taking and clamping assembly is mounted on the fourth mounting plate body.

[0013] In the automatic unpacking device, the material taking and adsorbing assembly comprises a suction cup, a suction cup guide rod, a first linear bearing and a suction cup mounting plate, the suction cup mounting plate is mounted on the third mounting plate body, the first linear bearing is mounted on the suction cup mounting plate, the suction cup guide rod is arranged in the first linear bearing, and the first linear bearing is connected with the suction cup.

[0014] In the automatic unpacking device provided by the application, the material taking and clamping assembly comprises a clamping driving element, a clamping driving mounting plate, a pressing plate mounting plate, a pressing plate, a pressing plate guide rod, a second linear bearing and a hook plate, the clamping driving element is installed on one side of the fourth mounting plate body close to the second rotating plate body through the clamping driving mounting plate, the hook plate is installed on the other side of the fourth mounting plate body away from the second rotating plate body, the clamping driving element is connected with the pressing plate mounting plate, the second linear bearing is installed on the pressing plate mounting plate, the pressing plate guide rod is arranged in the second linear bearing, the pressing plate guide rod is connected with the pressing plate, and the clamping driving element is used for driving the pressing plate to move towards the hook plate to form clamping.

[0015] In the automatic unpacking device provided by the application, the moving platform comprises an X-axis moving platform, a Y-axis moving platform and a Z-axis moving platform, the Y-axis moving platform moves along the X-axis moving platform, the Z-axis moving platform moves along the Y-axis moving platform, and the material taking mechanism and the cutting mechanism are installed on the Z-axis moving platform and move along the Z-axis moving platform.

[0016] In the automatic unpacking device provided by the application, the front and rear positioning mechanism comprises a front side edge positioning assembly, a rear side edge positioning assembly and a first lead screw assembly, the front side edge positioning assembly and the rear side edge positioning assembly are arranged in front of and behind each other, and the two ends of the first lead screw assembly are connected with the front side edge positioning assembly and the rear side edge positioning assembly respectively, and the first lead screw assembly is used for driving the front side edge positioning assembly and the rear side edge positioning assembly to move towards each other.

[0017] In the automatic unpacking device provided by the application, the left and right positioning mechanism comprises a left side edge positioning assembly, a right side edge positioning assembly and a second lead screw assembly, the left side edge positioning assembly and the right side edge positioning assembly are arranged in front of and behind each other, and the two ends of the second lead screw assembly are connected with the left side edge positioning assembly and the right side edge positioning assembly respectively, and the second lead screw assembly is used for driving the left side edge positioning assembly and the right side edge positioning assembly to move towards each other.

[0018] In the automatic unpacking device provided by the application, the front side edge positioning assembly and the rear side edge positioning assembly each comprise a first lower pressing plate, a first upper pressing plate and a first edge pressing driving element and a first edge pressing driving mounting plate, the first lower pressing plate is connected with the first lead screw assembly, the first edge pressing driving element is installed on the first lower pressing plate through the first edge pressing driving mounting plate, the first edge pressing driving element is connected with the first upper pressing plate, and the first edge pressing driving element is used for driving the first upper pressing plate to press downwards towards the first lower pressing plate.

[0019] In the automatic unpacking device provided by the application, the left side positioning assembly and the right side positioning assembly each include a guide rail, a sliding seat, a second lower pressing plate, a second upper pressing plate, a second edge pressing driving member, and a second edge pressing driving mounting plate. The sliding seat is installed on the guide rail. The second lower pressing plate is arranged on the sliding seat at an interval from one end of the second screw rod assembly. The first lower pressing plate is arranged at the interval. The second edge pressing driving member is installed on the second lower pressing plate through the second edge pressing driving mounting plate. The second edge pressing driving member is connected with the second upper pressing plate. The second edge pressing driving member is used to drive the second upper pressing plate to press downward toward the second lower pressing plate.

[0020] In the automatic unpacking device provided by the application, the first screw rod assembly is provided with two pairs. Each pair of the first screw rod assembly includes a first screw rod motor, a first screw rod, a first bearing connecting seat, and a second bearing connecting seat. The first bearing connecting seat and the second bearing connecting seat are respectively installed on the two first lower pressing plates of the front side positioning assembly and the rear side positioning assembly. The first screw rod motor is in transmission connection with the first screw rod. The two ends of the first screw rod are respectively arranged in the first bearing connecting seat and the second bearing connecting seat.

[0021] The second screw rod assembly is provided with two pairs. Each pair of the second screw rod assembly includes a second screw rod motor, a second screw rod, a third bearing connecting seat, and a fourth bearing connecting seat. The third bearing connecting seat and the fourth bearing connecting seat are respectively installed on the two sliding seats of the left side positioning assembly and the right side positioning assembly. The second screw rod motor is in transmission connection with the second screw rod. The two ends of the second screw rod are respectively arranged in the third bearing connecting seat and the fourth bearing connecting seat.

[0022] In the automatic unpacking device provided by the application, the automatic unpacking device further includes a rack. The material placing platform includes a first lifting assembly and a support platform. The first lifting assembly is installed on the rack. The first lifting assembly is used to drive the support platform to lift.

[0023] In the automatic unpacking device provided by the application, the positioning device further includes a second lifting assembly and a support frame. The second lifting assembly is installed on the rack. The support frame is used to install the front and rear positioning mechanisms and the left and right positioning mechanisms. The second lifting assembly is used to drive the support frame to lift the front and rear positioning mechanisms and the left and right positioning mechanisms relative to the material placing platform.

[0024] The application further provides a control method of the automatic unpacking device. The method includes the following steps:

[0025] The material taking and adsorbing assembly of the material taking mechanism is controlled to adsorb the material to be unpacked and place the material on the material placing platform.

[0026] The front and rear positioning mechanisms and the left and right positioning mechanisms are controlled to move towards the front and rear sides and the left and right sides of the material to be unpacked to position the material to be unpacked, and the first upper and lower pressing plates of the front and rear positioning mechanisms and the second upper and lower pressing plates of the left and right positioning mechanisms are controlled to press the front and rear sides and the left and right sides of the material to be unpacked, and the front and rear positioning mechanisms and the left and right positioning mechanisms are controlled to move away from the material to be unpacked to tension the packaging of the material to be unpacked.

[0027] The front and rear cutting members of the cutting mechanism are controlled to move along the front and rear sides of the packaging of the material to be unpacked to cut the packaging, and the first rotary driving member of the cutting mechanism is controlled to rotate to switch to the left and right cutting members, and the left and right cutting members are controlled to move along the left and right sides of the packaging of the material to be unpacked to cut the packaging.

[0028] The material taking suction assembly of the material taking mechanism is controlled to suck part of the packaging of the material to be unpacked to recycle it, the front and rear positioning mechanisms and the left and right positioning mechanisms are controlled to move downward relative to the material placing platform to make the material separate from the packaging, and the second rotary driving member of the material taking mechanism is controlled to rotate to switch to the material taking clamping assembly, and the material taking clamping assembly is controlled to clamp the unpacked material to unload it.

[0029] The application provides an automatic unpacking device and a control method thereof. The automatic unpacking device comprises a material placing platform, a positioning device and a material taking and cutting device. The positioning device comprises front and rear positioning mechanisms and left and right positioning mechanisms, and the material taking and cutting device comprises a cutting mechanism, a material taking mechanism and a moving platform. When unpacking, the moving platform drives the material taking mechanism to grab the material to be unpacked and place it on the material placing platform. Then, the front and rear positioning mechanisms press the front and rear sides of the packaging of the material to be unpacked, and the left and right positioning mechanisms press the left and right sides of the packaging of the material to be unpacked. Then, the moving platform drives the cutting mechanism to move along the front and rear sides and the left and right sides of the packaging of the material to be unpacked to cut the packaging, thereby completing the unpacking of the material to be unpacked. Finally, the moving platform drives the material taking mechanism to take out the unpacked material. Thus, the automatic unpacking of the PCB is completed, the unpacking efficiency is improved, the PCB is prevented from being scratched, and the labor cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0031] Figure 1Schematic view of the automatic unpacking device of the embodiment of the present application;

[0032] Figure 2 Schematic view of the moving platform of the automatic unpacking device of the embodiment of the present application;

[0033] Figure 3 Schematic view of the A part of Figure 2

[0034] Figure 4 Schematic view of the cutting mechanism of the automatic unpacking device of the embodiment of the present application;

[0035] Figure 5 Schematic view of the material taking mechanism of the automatic unpacking device of the embodiment of the present application;

[0036] Figure 6 Schematic view of the rack of the automatic unpacking device of the embodiment of the present application;

[0037] Figure 7 Schematic view of the B part of Figure 6

[0038] Figure 8 Schematic view of the support frame of the automatic unpacking device of the embodiment of the present application;

[0039] Figure 9 Schematic view of the assembly of the support frame and the rack of the automatic unpacking device of the embodiment of the present application;

[0040] Figure 10 Schematic view of the C part of Figure 9

[0041] Figure 11 Schematic view of the front and rear positioning mechanism of the automatic unpacking device of the embodiment of the present application;

[0042] Figure 12 Schematic view of the left and right positioning mechanism of the automatic unpacking device of the embodiment of the present application;

[0043] Explanation of reference signs:

[0044] ​​​1, material placement platform; 11, first lifting assembly; 111, motor; 112, gear; 113, rack; 114, lifting rod; 12, support platform; 2, positioning device; 21, front and rear positioning mechanism; 211a, front side edge positioning assembly; 211b, rear side edge positioning assembly; 2111, first lower pressing plate; 2112, first upper pressing plate; 2113, first edge pressing driving piece; 2114, first edge pressing driving installation plate; 212, first screw rod assembly; 2121, first screw rod motor; 2122, first screw rod; 2123, first bearing connecting seat; 2124, second bearing connecting seat; 22, left and right positioning mechanism; 221a, left side edge positioning assembly; 221b, right side edge positioning assembly; 2211, guide rail; 2212, sliding seat; 2213, second lower pressing plate; 2214, second upper pressing plate; 2215, second edge pressing driving piece; 2216, second edge pressing driving installation plate; 222, second screw rod assembly; 2221, second screw rod motor; 2222, second screw rod; 2223, third bearing connecting seat; 2224, fourth bearing connecting seat; 23, second lifting assembly; 231, sliding rail; 232, lifting cylinder; 24, support frame; 241, front and rear positioning guide column; 242, left and right positioning guide rod; 3, material taking and cutting device; 31, cutting mechanism; 311, front and rear cutting piece; 312, left and right cutting piece; 313, cutting piece installation plate; 3131, first rotating plate body; 3132, first installation plate body; 3133, second installation plate body; 314, first rotating driving piece; 315, cover plate; 32, material taking mechanism; 321, material taking and adsorbing assembly; 3211, suction disc; 3212, suction disc guide rod; 3213, first linear bearing; 3214, suction disc installation plate; 322, material taking and clamping assembly; 3221, clamping driving piece; 3222, clamping driving installation plate; 3223, pressing plate installation plate; 3224, pressing plate; 3225, pressing plate guide rod; 3226, second linear bearing; 3227, hook plate; 323, material taking assembly installation plate; 3231, second rotating plate body; 3232, third installation plate body; 3233, fourth installation plate body; 324, second rotating driving piece; 33, moving platform; 33a, X-axis moving platform; 33b, Y-axis moving platform; 33c, Z-axis moving platform; 331, motor; 332, gear; 333, rack; 334, sliding block; 335, sliding rail; 4, rack; 5, material storage trolley; 6, material receiving trolley; 7, packaging recycling box. DETAILED DESCRIPTION

[0045] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort are within the scope of the present application.

[0046] The directional terms mentioned in the present application, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "lateral" and the like, are only the directions of the accompanying drawings. Therefore, the directional terms are used to illustrate and understand the present application, rather than to limit the present application. In addition, in the drawings, structures similar or identical to each other are denoted by the same reference numerals.

[0047] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0048] With reference to Figures 1-12 The embodiment of the present application provides an automatic unpacking device, which comprises a material placing platform 1, a positioning device 2 and a material taking and cutting device 3. The material placing platform 1 is used for placing material to be unpacked. The positioning device 2 comprises front and rear positioning mechanisms 21 and left and right positioning mechanisms 22. The front and rear positioning mechanisms 21 are arranged on the front side and the rear side of the material placing platform 1, and are used for pressing the front side edge and the rear side edge of the packaging of the material to be unpacked. The left and right positioning mechanisms 22 are arranged on the left side and the right side of the material placing platform 1, and are used for pressing the left side edge and the right side edge of the packaging of the material to be unpacked. The material taking and cutting device 3 comprises a cutting mechanism 31, a material taking mechanism 32 and a moving platform 33. The moving platform 33 is used for driving the cutting mechanism 31 and the material taking mechanism 32 to move. The cutting mechanism 31 is used for moving along the front side edge and the rear side edge, the left side edge and the right side edge of the packaging of the material to be unpacked to cut the packaging, so as to complete unpacking of the material to be unpacked. The material taking mechanism 32 is used for grabbing the material to be unpacked and the unpacked material.

[0049] Specifically, the material to be unpacked is a PCB board. The PCB board is stacked together when it is delivered, and then it is packed by a packaging bag. The multiple PCB boards stacked together have a certain thickness, and the overall shape of the stacked PCB board is a rectangular body. The packaging bag entirely wraps the PCB board, and a surface layer of packaging paper is formed on the surface of the uppermost or lowermost PCB board of the packaging bag. The shape of the surface layer of packaging paper is rectangular, and the area of the surface layer of packaging paper is larger than the area of the PCB board. Therefore, the front side edge of the surface layer of packaging paper beyond the PCB board is the front side edge of the packaging of the material to be unpacked, the rear side edge of the surface layer of packaging paper beyond the PCB board is the rear side edge of the packaging of the material to be unpacked, the left side edge of the surface layer of packaging paper beyond the PCB board is the left side edge of the packaging of the material to be unpacked, and the right side edge of the surface layer of packaging paper beyond the PCB board is the right side edge of the packaging of the material to be unpacked.

[0050] The automatic unpacking device further comprises a rack 4. The material placing platform 1, the front and rear positioning mechanism 21, the left and right positioning mechanism 22, and the moving platform 33 are all installed on the rack 4. The front and rear positioning mechanism 21 and the left and right positioning mechanism 22 are at the same horizontal plane as the material placing platform 1. The front and rear positioning mechanism 21 is located on the front and rear sides of the material placing platform 1, and the left and right positioning mechanism 22 is located on the left and right sides of the material placing platform 1. The front and rear positioning mechanism 21 and the left and right positioning mechanism 22 form a rectangular area, and the material placing platform 1 is located in the rectangular area. The PCB board is placed on the material placing platform 1. The front and rear positioning mechanism 21 presses the front and rear side edges of the surface layer of packaging paper, and the left and right positioning mechanism 22 presses the left and right side edges of the surface layer of packaging paper. The material to be unpacked is positioned by pressing the four edges of the packaging by the front and rear positioning mechanism 21 and the left and right positioning mechanism 22, so as to avoid the material to be unpacked from shifting during cutting, thereby avoiding scratching the material.

[0051] The moving platform 33, the cutting mechanism 31, and the material taking mechanism 32 are integrated. The moving platform 33 is installed on the top of the rack 4, and the cutting mechanism 31 and the material taking mechanism 32 are both installed on the moving platform 33. The moving platform 33 drives the cutting mechanism 31 and the material taking mechanism 32 to move. It can be understood that the moving platform 33 can be of various structural forms, such as a three-axis moving platform or an industrial robot, which is not limited here. The material taking mechanism 32 can grasp the material to be unpacked from the storage trolley 5 and place it on the material placing platform 1, and can also take out the unpacked PCB board and carry it to the receiving trolley 6. In addition, the material taking mechanism 32 can also grasp the cut packaging and place it in the packaging recycling box 7. The cutting mechanism 31 moves along the front, rear, left, and right side edges of the surface layer of packaging paper under the drive of the moving platform 33, cuts all the four edges of the surface layer of packaging paper, so that the entire packaging is disassembled and unpacked. The material taking mechanism 32 takes away the surface layer of packaging paper, and finally carries the PCB board to the receiving trolley 6.

[0052] The automatic unpacking device of the embodiment replaces manual unpacking, realizes automatic operation, eliminates potential quality risks and process problems caused by manual operation, improves unpacking efficiency, avoids scratching the PCB, and reduces labor cost.

[0053] With reference to Figure 2 And Figure 3 In an embodiment, the moving platform 33 includes an X-axis moving platform 33a, a Y-axis moving platform 33b, and a Z-axis moving platform 33c. The Y-axis moving platform 33b moves along the X-axis moving platform 33a, and the Z-axis moving platform 33c moves along the Y-axis moving platform 33b. The material taking mechanism and the cutting mechanism are installed on the Z-axis moving platform 33c and move along the Z-axis moving platform 33c. Specifically, the X-axis moving platform 33a, the Y-axis moving platform 33b, and the Z-axis moving platform 33c of the embodiment each include a motor 331, a gear 332, a rack 333, a sliding block 334, and a sliding rail 335. The motor 331 is installed on the sliding block 334, the sliding block 334 is installed on the sliding rail 335, the motor 331 drives the gear 332 to rotate, the rack 333 is arranged along the sliding direction of the sliding rail 335, and the gear 332 is engaged with the rack 333. The sliding block 334 slides along the sliding rail 335 through the cooperation between the gear 332 and the rack 333. The X-axis moving platform 33a is provided with two, and the two X-axis moving platforms 33a are arranged in parallel and at intervals on the top of the rack 4. The two ends of the Y-axis moving platform 33b are respectively connected with the two X-axis moving platforms 33a in a sliding manner, so that the Y-axis moving platform 33b can slide along the two X-axis moving platforms 33a to realize forward and backward movement. The Z-axis moving platform 33c is connected with the Y-axis moving platform 33b in a sliding manner, so that the Z-axis moving platform 33c can slide along the Y-axis moving platform 33b to realize left and right movement. The material taking mechanism and the cutting mechanism are installed on the sliding block 334 of the Z-axis moving platform 33c, so that the material taking mechanism and the cutting mechanism can move along the Z-axis moving platform 33c to realize lifting. Therefore, the material taking mechanism and the cutting mechanism can move in the X-axis, Y-axis, and Z-axis directions through the X-axis moving platform 33a, the Y-axis moving platform 33b, and the Z-axis moving platform 33c. Moreover, the material taking mechanism and the cutting mechanism are installed on the sliding block 334 of the Z-axis moving platform 33c in a back-to-back manner, so that the material taking mechanism 32 and the cutting mechanism 31 are integrated together and share one moving platform, which simplifies the structure of the whole machine and improves work efficiency. At the same time, the material taking and cutting structure adopts the moving platform structure design of the X, Y, and Z axes, which solves the different position requirements in the grabbing and cutting processes and improves the universality and length size accuracy.

[0054] With reference to Figure 4In an embodiment, the cutting mechanism 31 comprises front and rear cutting pieces 311, left and right cutting pieces 312, a cutting piece mounting plate 313, and a first rotary drive 314 mounted on the moving platform. The front and rear cutting pieces 311 and the left and right cutting pieces 312 are both mounted on the cutting piece mounting plate 313, and the first rotary drive 314 is used to drive the cutting piece mounting plate 313 to rotate to switch the front and rear cutting pieces 311 and the left and right cutting pieces 312. Specifically, the front and rear cutting pieces 311 and the left and right cutting pieces 312 are both cutting blades, and the first rotary drive 314 is a rotary cylinder. The rotary cylinder is mounted on one side of the slider of the Z-axis moving platform and moves with the slider of the Z-axis moving platform. The front and rear cutting pieces 311 and the left and right cutting pieces 312 are mounted on the rotary cylinder through the cutting piece mounting plate 313, and the front and rear cutting pieces 311 and the left and right cutting pieces 312 are switched by the rotary cylinder. When cutting the front and rear side edges, the rotary cylinder is rotated to the side where the front and rear cutting pieces 311 are located, and vertical cutting of the front and rear side edges is performed; when cutting the left and right side edges, the rotary cylinder is rotated to the side where the left and right cutting pieces 312 are located, and horizontal cutting of the left and right side edges is performed. In this way, by the design of the rotary cylinder to switch the front and rear cutting pieces 311 and the left and right cutting pieces 312, the horizontal cutting blade and the vertical cutting blade are quickly switched, thereby meeting the needs of cutting and unpacking the PCB in different directions, and by integrating two blades through the rotary cylinder, one set of tooling can be reduced, thereby simplifying the structure and improving the efficiency of unpacking.

[0055] In the embodiment, the cutting member mounting plate 313 comprises a first rotating plate body 3131 connected with the first rotating driving member 314, a first mounting plate body 3132 and a second mounting plate body 3133, both of which are connected with the first rotating plate body 3131 and perpendicular to each other; the front and rear cutting members 311 are mounted on the first mounting plate body 3132, and the left and right cutting members 312 are mounted on the second mounting plate body 3133. Specifically, the first rotating plate body 3131 is circular as a whole, the first rotating plate body 3131 is connected with the output end of the rotating cylinder, the first mounting plate body 3132 and the second mounting plate body 3133 are perpendicular to each other, and the first rotating plate body 3131, the first mounting plate body 3132 and the second mounting plate body 3133 are integrally formed as an L-shaped plate. Since the rotating center of the L-shaped plate is at the circular first rotating plate body 3131, the front and rear cutting members 311 are mounted on the first mounting plate body 3132 far away from the rotating center, and the left and right cutting members 312 are mounted on the second mounting plate body 3133 far away from the rotating center, so that the front and rear cutting members 311 and the left and right cutting members 312 are separated, and do not interfere with each other. The rotating cylinder is rotated by 90 degrees to complete the switching of the front and rear cutting members 311 and the left and right cutting members 312, the switching is simple, the PCB board is not damaged in the switching process, and the reliability is high.

[0056] Further, a cover plate 315 is arranged on the surface of the second mounting plate body 3133, and the left and right cutting members 312 are arranged between the second mounting plate body 3133 and the cover plate 315 so that the left and right cutting members 312 are parallel to the second mounting plate body 3133. The first mounting plate body 3132 is provided with a mounting groove, and the mounting groove is perpendicular to the surface of the first mounting plate body 3132. The front and rear cutting members 311 are embedded in the mounting groove so that the front and rear cutting members 311 are perpendicular to the first mounting plate body 3132. Specifically, the front and rear cutting members 311 and the left and right cutting members 312 are cutting blades, the cutting blade is arranged on the surface of the second mounting plate body 3133, and then the cover plate 315 is arranged on the cutting blade, and the cover plate 315 and the second mounting plate body 3133 are fixed, so that the cutting blade is clamped and parallel to the second mounting plate body 3133. In addition, the mounting groove is a straight groove, and the mounting groove extends linearly from the end of the first mounting plate body 3132 away from the first rotating plate body 3131 to the first rotating plate body 3131. From the end surface of the first mounting plate body 3132, the mounting groove penetrates through one side surface of the first mounting plate body 3132, and the mounting groove is perpendicular to the surface of the first mounting plate body 3132. The cutting blade is embedded in the mounting groove from the outside to the inside of the end of the first mounting plate body 3132, and the cutting blade is perpendicular to the first mounting plate body 3132. In this way, the cutting directions of the left and right cutting members 312 and the front and rear cutting members 311 are perpendicular, the front and rear cutting members 311 can realize vertical cutting, and after switching to the left and right cutting members, the left and right cutting members 312 can realize horizontal cutting.

[0057] Referring to Figure 5In an embodiment, the material taking mechanism 32 comprises a material taking suction assembly 321 for suctioning the material to be unpacked and the packaging of the material to be unpacked, a material taking clamping assembly 322 for clamping the unpacked material, a material taking assembly mounting plate 323, and a second rotary driving member 324 mounted on the moving platform, the material taking suction assembly 321 and the material taking clamping assembly 322 are both mounted on the material taking assembly mounting plate 323, and the second rotary driving member 324 is used to drive the material taking assembly mounting plate 323 to rotate to switch the material taking suction assembly 321 and the material taking clamping assembly 322. Specifically, the second rotary driving member 324 is also a rotary air cylinder. The rotary air cylinder is mounted on the other side of the slider of the Z-axis moving platform, that is, the cutting mechanism and the material taking mechanism 32 are arranged back to back, and both follow the movement of the slider of the Z-axis moving platform. The material taking suction assembly 321 and the material taking clamping assembly 322 are mounted on the rotary air cylinder through the material taking assembly mounting plate 323, and are switched by the rotary air cylinder. When the material to be unpacked needs to be suctioned and part of the packaging of the material to be unpacked needs to be suctioned, the rotary air cylinder is rotated to the side where the material taking suction assembly 321 is located to perform suction of the material taking suction assembly 321; when the unpacked material needs to be clamped, the rotary air cylinder is rotated to the side where the material taking clamping assembly 322 is located to perform clamping of the material taking clamping assembly 322. In this way, by rotating the rotary air cylinder to switch the material taking suction assembly 321 and the material taking clamping assembly 322, the feeding suction disc, the discharging clamp, and the cutting tool are integrated, and all are integrated on the three-axis moving platform, which simplifies the structure and improves the working efficiency of the moving platform.

[0058] In the embodiment, the material taking assembly mounting plate 323 comprises a second rotating plate body 3231, a third mounting plate body 3232 and a fourth mounting plate body 3233, the second rotating plate body 3231 is connected with the second rotating driving member 324, the third mounting plate body 3232 and the fourth mounting plate body 3233 are both connected with the second rotating plate body 3231 and the third mounting plate body 3232 and the fourth mounting plate body 3233 are perpendicular to each other, wherein the material taking and adsorbing assembly 321 is mounted on the third mounting plate body 3232 and the material taking and clamping assembly 322 is mounted on the fourth mounting plate body 3233. Specifically, the second rotating plate body 3231 is circular as a whole, the second rotating plate body 3231 is connected with the output end of the rotating cylinder, the third mounting plate body 3232 and the fourth mounting plate body 3233 are perpendicular to each other, and the second rotating plate body 3231, the third mounting plate body 3232 and the fourth mounting plate body 3233 are integrally formed as an L-shaped plate. Since the rotating center of the L-shaped plate is at the circular second rotating plate body 3231, the material taking and adsorbing assembly 321 is mounted on the third mounting plate body 3232 which is far away from the rotating center, and the material taking and clamping assembly 322 is mounted on the fourth mounting plate body 3233 which is far away from the rotating center, so as to separate the material taking and adsorbing assembly 321 and the material taking and clamping assembly 322, the two assemblies do not interfere with each other, the rotating cylinder is rotated by 90 degrees to complete the switching of the material taking and adsorbing assembly 321 and the material taking and clamping assembly 322, the functions of adsorbing and feeding and clamping and discharging are integrated, and the switching is simple and efficient.

[0059] In an embodiment, the material taking and adsorbing assembly 321 comprises a suction cup 3211, a suction cup guide rod 3212, a first linear bearing 3213 and a suction cup mounting plate 3214, the suction cup mounting plate 3214 is mounted on the third mounting plate body 3232, the first linear bearing 3213 is mounted on the suction cup mounting plate 3214, the suction cup guide rod 3212 penetrates through the first linear bearing 3213, and the first linear bearing 3213 is connected with the suction cup. Specifically, the suction cup 3211 is a sponge suction cup, the front side of the sponge suction cup is the adsorbing side which can generate adsorbing force. Two suction cup guide rods 3212 are connected at the back side of the sponge suction cup, and the two suction cup guide rods 3212 are connected with the suction cup mounting plate 3214 through the two first linear bearings 3213. The suction cup mounting plate 3214 is fixedly mounted on the end face of the third mounting plate body 3232 at the side opposite to the sponge suction cup. During feeding, the slider of the Z-axis moving platform drives the sponge suction cup to move downward to adsorb the material to be unpacked, and then moves to the material placing platform to place the material to be unpacked downward to complete the feeding. In addition, the slider of the Z-axis moving platform drives the sponge suction cup to move downward to adsorb the part of the packaging after unpacking, and then moves to the packaging recycling box to drop the part of the packaging to complete the packaging recycling.

[0060] In an embodiment, the material taking and clamping assembly 322 comprises a clamping driving member 3221, a clamping driving mounting plate 3222, a pressing plate mounting plate 3223, a pressing plate 3224, a pressing plate guide rod 3225, a second linear bearing 3226, and a hook plate 3227. The clamping driving member 3221 is mounted on the fourth mounting plate body 3233 through the clamping driving mounting plate 3222, close to one side of the second rotating plate body 3231. The hook plate 3227 is mounted on the fourth mounting plate body 3233, away from the second rotating plate body 3231. The clamping driving member 3221 is connected with the pressing plate mounting plate 3223. The second linear bearing 3226 is mounted on the pressing plate mounting plate 3223. The pressing plate guide rod 3225 penetrates through the second linear bearing 3226. The pressing plate guide rod 3225 is connected with the pressing plate. The clamping driving member 3221 is used to drive the pressing plate to move towards the hook plate 3227 to form clamping. Specifically, the pressing plate 3224 is arranged in a spaced manner with the hook plate 3227. The hook plate 3227 is on the lower side. The hook plate 3227 is in a U shape, facilitating the extension into the bottom of the PCB board. The pressing plate 3224 is on the upper side. The pressing plate is driven to move towards the hook plate 3227 by the clamping driving member 3221, so as to clamp the PCB board. Specifically, the hook plate 3227 is directly mounted on the end of the fourth mounting plate. The pressing plate is connected with the clamping driving member 3221. The clamping driving member 3221 is mounted on the fourth mounting plate through the pressing plate mounting plate 3223. The pressing plate mounting plate 3223 is in a broken line type structure, for example, in a Z shape. The clamping driving member 3221 is separated from the surface of the fourth mounting plate by a certain distance, so as to leave a certain space to mount the pressing plate. The pressing plate mounting plate 3223 mounts the pressing plate through the pressing plate guide rod 3225 and the second linear bearing 3226. When clamping, the U-shaped hook plate 3227 is first inserted into the lower side of the PCB board. Then, the clamping driving member 3221 drives the pressing plate 3224 to move downwards. The pressing plate 3224 presses the PCB board, so as to clamp the PCB board between the pressing plate 3224 and the U-shaped hook plate 3227 to form clamping. The PCB board is placed into the material receiving trolley, so as to complete the unloading.

[0061] Referring to Figure 6 and Figure 7In an embodiment, the automatic unpacking device further comprises a rack 4, the material placing platform 1 comprises a first lifting assembly 11 and a supporting platform 12, the first lifting assembly 11 is installed on the rack 4, and the first lifting assembly 11 is used to drive the supporting platform 12 to lift. Specifically, the rack 4 has four supporting legs, and the four supporting legs are connected by four cross beams, which form a rectangular structure from the top view. A mounting beam is further arranged between the supporting legs, the material placing platform 1 is arranged on the mounting beam, and the material placing platform 1 is located at the center position of the rectangular structure. The material placing platform 1 comprises the first lifting assembly 11 and the supporting platform 12 in a planar structure, the supporting platform 12 is used to place the material to be unpacked, the bottom of the supporting platform 12 is connected with the first lifting assembly 11, and the first lifting assembly 11 is installed on the mounting beam. The first lifting assembly 11 has various structural forms, and the first lifting assembly in the embodiment comprises a motor 111, a gear 112, a rack 113 and a lifting rod 114. The motor 111 drives the gear 112 to rotate, the rack 113 is arranged along the lifting direction of the lifting rod 114, the gear 112 is engaged with the rack 113, the lifting of the lifting rod 114 is realized through the cooperation of the gear 112 and the rack 113, the top end of the lifting rod 114 is connected with the bottom of the supporting platform 12, so as to drive the supporting platform 12 to lift, so as to adjust the height of the material to be unpacked. Since the specifications of the PCBs are different, the thicknesses of the single PCBs are also different, and thus the thicknesses of each package after vacuum packaging are different. In order to ensure that the cutting positioning is kept in the same plane, it is necessary to adjust the height of the material placing platform 1. In actual application, the height adjustment method of the material placing platform 1 is that, after the PCB specification selection button of the control system is pressed, the motor 111 of the first lifting assembly 11 acts to drive the gear 112 to rotate, the lifting rod 114 is adjusted to move up and down under the cooperation of the gear 112 and the rack 113, so that the height of the material placing platform 1 can be adjusted.

[0062] Referring to Figure 8 , Figure 9 and Figure 10In an embodiment, the positioning device further comprises a second lifting assembly 23 installed on the rack and a support frame 24 for mounting the front and rear positioning mechanism and the left and right positioning mechanism, the second lifting assembly 23 being configured to drive the support frame 24 to lift the front and rear positioning mechanism and the left and right positioning mechanism relative to the material placing platform. Specifically, the second lifting assembly 23 comprises four slide rails 231 and two lifting cylinders 232, the four slide rails 231 being respectively installed on the four feet of the rack, and the two lifting cylinders 232 being respectively fixed on two of the cross beams of the rack. The support frame 24 is in the shape of a rectangular frame, which is surrounded by front and rear positioning guide columns 241 and left and right positioning guide rods 242, the front and rear positioning guide columns 241 being respectively connected with the four slide rails 231 through four positioning mounting plates, and the two lifting cylinders 232 being respectively connected with the front and rear positioning guide columns 241 to drive the support frame 24 to lift. The front and rear positioning guide columns 241 are installed with the front and rear positioning mechanism, and the left and right positioning guide rods 242 are installed with the left and right positioning mechanism. Thus, the second lifting assembly 23 drives the support frame 24 to lift, thereby driving the front and rear positioning mechanism and the left and right positioning mechanism to lift together. After unpacking, the second lifting assembly 23 drives the front and rear positioning mechanism 21 and the left and right positioning mechanism 22 to move downward. Since the material platform is stationary at this time, the front and rear positioning mechanism 21 and the left and right positioning mechanism 22 are lowered relative to the material platform. Since the front and rear positioning mechanism 21 and the left and right positioning mechanism 22 are respectively pressed against the side edges of the packaging at this time, the packaging bag will be separated from the PCB board when the front and rear positioning mechanism 21 and the left and right positioning mechanism 22 move downward, thereby allowing the PCB board to be separated from the packaging bag.

[0063] Referring to Figure 11In an embodiment, the front and rear positioning mechanism 21 comprises a front side positioning assembly 211a, a rear side positioning assembly 211b and a first screw rod assembly 212, the front side positioning assembly 211a and the rear side positioning assembly 211b are arranged in front and rear, and two ends of the first screw rod assembly 212 are connected with the front side positioning assembly 211a and the rear side positioning assembly 211b respectively, and the first screw rod assembly 212 is used to drive the front side positioning assembly 211a and the rear side positioning assembly 211b to move towards each other. In this embodiment, the front side positioning assembly 211a and the rear side positioning assembly 211b each comprises a first lower pressing plate 2111, a first upper pressing plate 2112 and a first edge pressing driving member 2113, a first edge pressing driving mounting plate 2114, the first lower pressing plate 2111 is connected with the first screw rod assembly 212, the first edge pressing driving member 2113 is mounted on the first lower pressing plate 2111 through the first edge pressing driving mounting plate 2114, the first edge pressing driving member 2113 is connected with the first upper pressing plate 2112, and the first edge pressing driving member 2113 is used to drive the first upper pressing plate 2112 to press down towards the first lower pressing plate 2111. The first screw rod assembly 212 is provided with two pairs, each pair of the first screw rod assembly 212 comprises a first screw rod motor 2121, a first screw rod 2122, a first bearing connecting seat 2123 and a second bearing connecting seat 2124, the first bearing connecting seat 2123 and the second bearing connecting seat 2124 are mounted on the two first lower pressing plates 2111 of the front side positioning assembly 211a and the rear side positioning assembly 211b respectively, the first screw rod motor 2121 is in transmission connection with the first screw rod 2122, and two ends of the first screw rod 2122 are respectively arranged in the first bearing connecting seat 2123 and the second bearing connecting seat 2124.

[0064] Specifically, the front side positioning assembly 211a and the rear side positioning assembly 211b are structurally identical, and the front side positioning assembly 211a and the rear side positioning assembly 211b are moved towards each other by two pairs of first screw rod assemblies 212 to position the front side and the rear side of the PCB. Specifically, the first lower pressing plate 2111 is a long strip-shaped plate body, and the front side positioning assembly 211a and the rear side positioning assembly 211b each have a first lower pressing plate 2111, and the two first lower pressing plates 2111 are arranged in parallel and spaced apart. The two first lower pressing plates 2111 are connected by two pairs of first screw rod assemblies 212, one pair of first screw rod assemblies 212 is connected between one end of the two first lower pressing plates 2111, and the other pair of first screw rod assemblies 212 is connected between the other end of the two first lower pressing plates 2111. The mounting structure of the two pairs of first screw rod assemblies 212 is identical, the first screw rod motor 2121 is located between the two first lower pressing plates 2111, the first screw rod motor 2121 is in transmission connection with the first screw rod 2122, and the two ends of the first screw rod 2122 are connected to the two first lower pressing plates 2111 through the first bearing connecting seat 2123 and the second bearing connecting seat 2124 respectively. The two first lower pressing plates 2111 are driven by the two first screw rod assemblies 212 to move closer to or away from each other. Two first upper pressing plates 2112 are arranged on each first lower pressing plate 2111, the two first upper pressing plates 2112 are arranged in spaced apart manner, and the two first upper pressing plates 2112 are connected with two first edge pressing driving members 2113 respectively, and the two first edge pressing driving members 2113 are installed on the first lower pressing plate 2111 through two first edge pressing driving installation plates 2114. The first edge pressing driving member 2113 is a gas cylinder, one end of the first edge pressing driving installation plate 2114 is fixedly installed with the first lower pressing plate 2111, and the other end is fixedly installed with the gas cylinder, the gas cylinder is supported at a certain height relative to the first lower pressing plate 2111, leaving a space, facilitating the connection of the gas cylinder with the first upper pressing plate 2112. The first upper pressing plate 2112 is driven downward by the gas cylinder, so as to press the front side edge and the rear side edge of the package tightly between the first upper pressing plate 2112 and the first lower pressing plate 2111. The positioning by four-side movement adopts the mode of servo motor plus ball screw, so as to improve the positioning accuracy, and can also be suitable for positioning of PCBs of various sizes.

[0065] With reference to Figure 12In an embodiment, the left-right positioning mechanism 22 comprises a left side positioning assembly 221a, a right side positioning assembly 221b, and a second lead screw assembly 222. The left side positioning assembly 221a and the right side positioning assembly 221b are arranged left and right with a space between. The two ends of the second lead screw assembly 222 are connected to the left side positioning assembly 221a and the right side positioning assembly 221b respectively, and the second lead screw assembly 222 is used to drive the left side positioning assembly 221a and the right side positioning assembly 221b to move towards each other. In this embodiment, the left side positioning assembly 221a and the right side positioning assembly 221b each comprise a guide rail 2211, a sliding seat 2212, a second lower pressing plate 2213, a second upper pressing plate 2214, and a second edge pressing driving member 2215 and a second edge pressing driving mounting plate 2216. The sliding seat 2212 is installed on the guide rail 2211. The second lower pressing plate 2213 is arranged on the sliding seat 2212 with a space between and one end of the second lead screw assembly 222. The first lower pressing plate 2111 is arranged at the space. The second edge pressing driving member 2215 is installed on the second lower pressing plate 2213 through the second edge pressing driving mounting plate 2216. The second edge pressing driving member 2215 is connected to the second upper pressing plate 2214. The second edge pressing driving member 2215 is used to drive the second upper pressing plate 2214 to press down towards the second lower pressing plate 2213. The second lead screw assembly 222 is provided with two pairs. Each pair of the second lead screw assembly 222 comprises a second lead screw motor 2221, a second lead screw 2222, a third bearing connecting seat 2223, and a fourth bearing connecting seat 2224. The third bearing connecting seat 2223 and the fourth bearing connecting seat 2224 are installed on the two sliding seats 2212 of the left side positioning assembly 221a and the right side positioning assembly 221b respectively. The second lead screw motor 2221 is in transmission connection with the second lead screw 2222. The two ends of the second lead screw 2222 are respectively provided through the third bearing connecting seat 2223 and the fourth bearing connecting seat 2224. In addition, the first lower pressing plate 2111 passes between the second lower pressing plate 2213 and the third bearing seat 2223 or the fourth bearing seat 2224. The first lower pressing plate 2111 is fixed to the sliding seat at the space, so that the first lower pressing plate 2111 can drive the sliding seat 2212 to move synchronously to adapt to different sizes of packages.

[0066] Specifically, the left side positioning assembly 221a and the right side positioning assembly 221b are identical in structure, and the left side positioning assembly 221a and the right side positioning assembly 221b are moved towards each other by two pairs of second screw rod assemblies 222 to position the left side and the right side of the PCB. Specifically, the left side positioning assembly 221a and the right side positioning assembly 221b each have one guide rail 2211, and the two guide rails 2211 are arranged in parallel and spaced apart, and each guide rail 2211 is slidably connected with two sliding seats 2212. The two guide rails 2211 are connected by two pairs of second screw rod assemblies 222, and the two sliding seats 2212 on the two guide rails 2211 are connected with one pair of second screw rod assemblies 222, and the other two sliding seats 2212 on the two guide rails 2211 are connected with the other pair of second screw rod assemblies 222. The mounting structure of the two pairs of second screw rod assemblies 222 is identical, the second screw rod motor 2221 is located between the two guide rails 2211, the second screw rod motor 2221 is in transmission connection with the second screw rod 2222, and the two ends of the second screw rod 2222 are connected with the two sliding seats 2212 of the two guide rails 2211 through the third bearing connecting seat 2223 and the fourth bearing connecting seat 2224 respectively. The two guide rails 2211 are brought close to or away from each other by the two second screw rod assemblies 222. The two sliding seats 2212 on the guide rail 2211 are arranged in spaced apart, each sliding seat 2212 is provided with a second upper pressing plate 2214 and a second lower pressing plate 2213, the second lower pressing plate 2213 is mounted on the sliding seat 2212 through a top block, the second upper pressing plate 2214 is connected with a second side pressing driving piece 2215, and the second side pressing driving piece 2215 is mounted on the second lower pressing plate 2213 through a second side pressing driving mounting plate 2216. The second side pressing driving piece 2215 is a gas cylinder, one end of the second side pressing driving mounting plate 2216 is fixedly installed with the second lower pressing plate 2213, and the other end is fixedly installed with the gas cylinder, the gas cylinder is supported at a certain height relative to the second lower pressing plate 2213, leaving a space, which is convenient for the gas cylinder to connect the second upper pressing plate 2214. The second upper pressing plate 2214 is driven downward by the gas cylinder, so that the left side and the right side of the package are pressed tightly between the second upper pressing plate 2214 and the second lower pressing plate 2213.

[0067] By the positioning device of the embodiment, during positioning, firstly, the first lead screw motor 2121 and the second lead screw motor 2221 act simultaneously, drive the first lead screw 2122 and the second lead screw 2222 to rotate, make the first lower pressing plate 2111 and the second lower pressing plate 2213 move towards the direction of the PCB board, thereby complete the front-back and left-right positioning of the PCB board. Here, the positioning is completed by the movement of the first lower pressing plate 2111 and the second lower pressing plate 2213, so that the rectangular space surrounded by the first lower pressing plate 2111 and the second lower pressing plate 2213 is just the outer dimension of a package of the PCB board, thereby position the PCB board. After the positioning is completed, the four first edge pressing driving members 2113 and the four second edge pressing driving members 2215 act simultaneously, drive the first upper pressing plate 2112 and the second upper pressing plate 2214 to move downwards and press the edges of the PCB board in four directions between the first upper pressing plate 2112 and the first lower pressing plate 2111, and between the second upper pressing plate 2214 and the second lower pressing plate 2213. After the edge pressing is completed, the first lead screw motor 2121 and the second lead screw motor 2221 act again simultaneously, make the first lower pressing plate 2111 and the second lower pressing plate 2213 move a small distance away from the direction of the PCB board. Here, the purpose of moving a small distance is that after the PCB board is vacuum packaged, the packaging bag is tightly attached to the PCB board, and moving a small distance after the edge pressing can make a gap between the packaging bag and the PCB board, thereby facilitate the cutting of the blade, and also prevent the hidden danger of scratching the PCB board by the blade, and finally the cutting mechanism cuts the package.

[0068] The embodiment of the application also provides a control method of the automatic unpacking device, which comprises the following steps: feeding, positioning, cutting and discharging.

[0069] The feeding step is to control the material taking and adsorbing assembly of the material taking mechanism 32 to adsorb the material to be unpacked and place it on the material placing platform 1.

[0070] Specifically, before the equipment is started, the staff places a certain number of unpacked PCB boards on the material storage trolley 5, and after the feeding is completed, the equipment is started, the corresponding size of the PCB board is selected, and then the equipment is started. The sponge suction cup is moved to the upper side of one of the PCB boards on the material storage trolley 5 under the driving of the moving platform, moves to the position, drives the sponge suction cup to move downwards, so that the sponge suction cup takes one package of the PCB board, and after the taking is completed, the moving platform drives the sponge suction cup to move to the upper side of the material placing platform 1 again, and places the PCB board on the material placing platform 1.

[0071] Positioning step: control the front and rear positioning mechanism 21 and the left and right positioning mechanism 22 to move towards the front and rear sides and the left and right sides of the material to be unpacked, and control the first upper and lower pressing plates of the front and rear positioning mechanism 21 to press the front and rear edges of the material to be unpacked, and control the second upper and lower pressing plates of the left and right positioning mechanism 22 to press the left and right edges of the material to be unpacked, and control the front and rear positioning mechanism 21 and the left and right positioning mechanism 22 to move away from the material to be unpacked to tension the packaging of the material to be unpacked.

[0072] Specifically, after the material is discharged, the first and second lead screw motors act simultaneously, driving the first and second lead screws to rotate, so that the first and second lower pressing plates move towards the PCB board direction, thereby completing the front, rear, left and right positioning of the PCB board. After positioning is completed, the four first and second edge pressing driving members act simultaneously, driving the first and second upper pressing plates to move downwards to press the edges of the packaging of the PCB board between the first upper and lower pressing plates and the second upper and lower pressing plates. After the edges are pressed, the first and second lead screw motors act again simultaneously, so that the first and second lower pressing plates move away from the PCB board direction by a small distance.

[0073] Cutting step: control the front and rear cutting members of the cutting mechanism 31 to move along the front and rear edges of the packaging of the material to be unpacked to cut the packaging, and control the first rotary driving member of the cutting mechanism 31 to rotate to switch to the left and right cutting members, and move the left and right cutting members along the left and right edges of the packaging of the material to be unpacked to cut the packaging.

[0074] Specifically, after moving, the moving platform drives the front and rear cutting members to move above one side of the packaging bag that needs to be cut, and then the moving platform drives the front and rear cutting members to move downwards, so that the cutting tip part of the front and rear cutting members is inserted into the packaging bag of the front and rear edges of the PCB board; after moving to the position, the moving platform drives the front and rear cutting members to move forward and backward to start cutting one side of the packaging bag, and after cutting is completed, the moving platform drives the front and rear cutting members to move upwards, and then the moving platform acts again to drive the front and rear cutting members to move to another side parallel to the side that has been cut to start the same cutting action. After the front and rear sides are cut, the rotary cylinder acts to drive the L-shaped plate to rotate, so that the left and right cutting members are rotated to the position of the front and rear cutting members, and then the same method is used to complete the cutting of the remaining two sides.

[0075] The material taking step is as follows: the material taking suction assembly of the material taking mechanism 32 suctions the part of the packaging of the material to be unpacked to recycle it, the front and rear positioning mechanism 21 and the left and right positioning mechanism 22 are controlled to move downward relative to the material placing platform 1 to make the material separate from the packaging, and the second rotating driving part of the material taking mechanism 32 is controlled to rotate and switch to the material taking clamping assembly, and the material after unpacking is clamped by the material taking clamping assembly to unload it.

[0076] Specifically, when the four surfaces are all completed cutting operation, the moving platform drives the sponge suction cup to suck the cut part of the packaging bag and put it into the packaging recycling box 7, at the same time, the lifting cylinder of the second lifting assembly is retracted, and the whole positioning device is moved downward, so that the PCB board of the packaging bag is separated from the packaging bag. After the separation is completed, the rotating cylinder acts to drive the L-shaped plate to rotate, so that the U-shaped hook plate is rotated to the position of the sponge suction cup, then the moving platform acts to move the U-shaped hook plate to the grabbing position of the PCB board separated from the packaging bag, after moving to the position, the clamping driving part acts to drive the pressing plate to press downward, so that the PCB board is clamped between the pressing plate and the U-shaped hook plate. After the clamping is completed, the moving platform again acts to move the grabbed PCB board above the material receiving trolley 6, and the PCB board after unpacking is completed is placed on the material receiving trolley 6, and the above actions are repeated again to complete the material placing, so as to cycle.

[0077] Through the control method of the automatic unpacking device, manual unpacking is replaced by automatic operation, potential quality risks and process problems caused by manual operation are eliminated, unpacking efficiency is improved, PCB boards are prevented from being scratched, and labor cost is reduced.

[0078] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An automated unpacking apparatus, characterized by, include: Material placement platform, used to place materials to be unpacked; A positioning device includes a front-rear positioning mechanism and a left-right positioning mechanism. The front-rear positioning mechanism is located on the front and rear sides of the material placement platform and is used to press the front and rear sides of the packaging of the material to be unpacked. The left-right positioning mechanism is located on the left and right sides of the material placement platform and is used to press the left and right sides of the packaging of the material to be unpacked. The front-rear positioning mechanism and the left-right positioning mechanism move towards the front and rear sides and left and right sides of the material to be unpacked, respectively, to position the material to be unpacked. The front-rear positioning mechanism presses the front and rear sides of the material to be unpacked, and the left-right positioning mechanism presses the left and right sides of the material to be unpacked. The front-rear positioning mechanism also moves away from the material to be unpacked to tension the packaging of the material to be unpacked. The material handling and cutting device includes a cutting mechanism, a material handling mechanism, and a moving platform. The moving platform is used to drive the cutting mechanism and the material handling mechanism to move. The cutting mechanism is used to move and cut the packaging along the front and rear sides, left and right sides of the packaging of the material to be unpacked to complete the unpacking of the material. The material handling mechanism is used to grab the material to be unpacked and the unpacked material.

2. The automated bale opening apparatus of claim 1, wherein, The cutting mechanism includes front and rear cutting components, left and right cutting components, a cutting component mounting plate, and a first rotary drive component. The first rotary drive component is mounted on the mobile platform. The front and rear cutting components and the left and right cutting components are both mounted on the cutting component mounting plate. The first rotary drive component is used to drive the cutting component mounting plate to rotate to switch between the front and rear cutting components and the left and right cutting components.

3. The automated bale-out apparatus of claim 2, wherein, The cutting component mounting plate includes a first rotating plate, a first mounting plate, and a second mounting plate. The first rotating plate is connected to the first rotating drive component. Both the first mounting plate and the second mounting plate are connected to the first rotating plate and are perpendicular to each other. The front and rear cutting components are mounted on the first mounting plate, and the left and right cutting components are mounted on the second mounting plate.

4. The automated bale-out apparatus of claim 3, wherein, A cover plate is provided on the surface of the second mounting plate, and the left and right cutting members are sandwiched between the second mounting plate and the cover plate so that the left and right cutting members are parallel to the second mounting plate; the first mounting plate is provided with a mounting groove, the mounting groove is perpendicular to the surface of the first mounting plate, and the front and rear cutting members are embedded in the mounting groove so that the front and rear cutting members are perpendicular to the first mounting plate.

5. The automated bale opening apparatus of claim 1, wherein, The material handling mechanism includes a material handling and adsorption component for adsorbing the material to be unpacked and the packaging of the material to be unpacked, a material handling and clamping component for clamping the unpacked material, a material handling component mounting plate, and a second rotary drive component. The second rotary drive component is mounted on the moving platform. The material handling and adsorption component and the material handling and clamping component are both mounted on the material handling component mounting plate. The second rotary drive component is used to drive the material handling component mounting plate to rotate to switch between the material handling and adsorption component and the material handling and clamping component.

6. The automated bale opening apparatus of claim 5, wherein, The material taking assembly mounting plate comprises a second rotating plate body, a third mounting plate body and a fourth mounting plate body, the second rotating plate body is connected with the second rotating driving element, the third mounting plate body and the fourth mounting plate body are connected with the second rotating plate body and the third mounting plate body and the fourth mounting plate body are perpendicular, wherein the material taking adsorption assembly is mounted on the third mounting plate body and the material taking clamping assembly is mounted on the fourth mounting plate body.

7. The automated bale-out apparatus of claim 6, wherein, The material taking adsorption assembly comprises a suction disc, a suction disc guide rod, a first linear bearing and a suction disc mounting plate, the suction disc mounting plate is mounted on the third mounting plate body, the first linear bearing is mounted on the suction disc mounting plate, the suction disc guide rod is arranged in the first linear bearing and the first linear bearing is connected with the suction disc.

8. The automated bale-out apparatus of claim 6, wherein, The material taking clamping assembly comprises a clamping driving element, a clamping driving mounting plate, a pressing plate mounting plate, a pressing plate, a pressing plate guide rod, a second linear bearing and a hook plate, the clamping driving element is mounted on one side of the fourth mounting plate body close to the second rotating plate body through the clamping driving mounting plate, the hook plate is mounted on the other side of the fourth mounting plate body away from the second rotating plate body, the clamping driving element is connected with the pressing plate mounting plate, the second linear bearing is mounted on the pressing plate mounting plate, the pressing plate guide rod is arranged in the second linear bearing and the pressing plate guide rod is connected with the pressing plate, and the clamping driving element is used for driving the pressing plate to move towards the hook plate to form clamping.

9. The automated bale opening apparatus of any of claims 1-8, wherein, The moving platform comprises an X-axis moving platform, a Y-axis moving platform and a Z-axis moving platform, the Y-axis moving platform moves along the X-axis moving platform, the Z-axis moving platform moves along the Y-axis moving platform, and the material taking mechanism and the cutting mechanism are mounted on the Z-axis moving platform and move along the Z-axis moving platform.

10. The automated bale opening apparatus of claim 1, wherein, The front and back positioning mechanism comprises a front side edge positioning assembly, a back side edge positioning assembly and a first screw rod assembly, the front side edge positioning assembly and the back side edge positioning assembly are arranged in front of and behind each other, and two ends of the first screw rod assembly are connected with the front side edge positioning assembly and the back side edge positioning assembly respectively, and the first screw rod assembly is used for driving the front side edge positioning assembly and the back side edge positioning assembly to move towards each other.

11. The automated bale opening apparatus of claim 10, wherein, The left and right positioning mechanism comprises a left side edge positioning assembly, a right side edge positioning assembly and a second screw rod assembly, the left side edge positioning assembly and the right side edge positioning assembly are arranged in left and right of each other, two ends of the second screw rod assembly are connected with the left side edge positioning assembly and the right side edge positioning assembly respectively, and the second screw rod assembly is used for driving the left side edge positioning assembly and the right side edge positioning assembly to move towards each other.

12. The automated bale-out apparatus of claim 11, wherein, The front side positioning assembly and the rear side positioning assembly each include a first lower pressing plate, a first upper pressing plate, and a first edge pressing driving member and a first edge pressing driving mounting plate. The first lower pressing plate is connected with the first screw rod assembly. The first edge pressing driving member is mounted on the first lower pressing plate through the first edge pressing driving mounting plate. The first edge pressing driving member is connected with the first upper pressing plate. The first edge pressing driving member is used to drive the first upper pressing plate to press downward toward the first lower pressing plate.

13. The automated bale opening apparatus of claim 12, wherein, The left side positioning assembly and the right side positioning assembly each include a guide rail, a sliding seat, a second lower pressing plate, a second upper pressing plate, and a second edge pressing driving member and a second edge pressing driving mounting plate. The sliding seat is mounted on the guide rail. The second lower pressing plate is arranged at an interval on the sliding seat at one end of the second screw rod assembly. The first lower pressing plate is arranged at the interval. The second edge pressing driving member is mounted on the second lower pressing plate through the second edge pressing driving mounting plate. The second edge pressing driving member is connected with the second upper pressing plate. The second edge pressing driving member is used to drive the second upper pressing plate to press downward toward the second lower pressing plate.

14. The automated bale opening apparatus of claim 13, wherein, The first screw rod assembly is provided with two pairs. Each pair of the first screw rod assembly includes a first screw rod motor, a first screw rod, a first bearing connecting seat, and a second bearing connecting seat. The first bearing connecting seat and the second bearing connecting seat are respectively mounted on the two first lower pressing plates of the front side positioning assembly and the rear side positioning assembly. The first screw rod motor is in transmission connection with the first screw rod. The first screw rod is respectively provided with a first bearing connecting seat and a second bearing connecting seat at two ends. The second screw rod assembly is provided with two pairs. Each pair of the second screw rod assembly includes a second screw rod motor, a second screw rod, a third bearing connecting seat, and a fourth bearing connecting seat. The third bearing connecting seat and the fourth bearing connecting seat are respectively mounted on the two sliding seats of the left side positioning assembly and the right side positioning assembly. The second screw rod motor is in transmission connection with the second screw rod. The second screw rod is respectively provided with a third bearing connecting seat and a fourth bearing connecting seat at two ends.

15. The automated bale opening apparatus of claim 1, wherein, The automatic unpacking device further includes a rack, and the material placing platform includes a first lifting assembly and a support platform. The first lifting assembly is mounted on the rack and is used to drive the support platform to lift.

16. The automated bale opening apparatus of claim 15, wherein, The positioning device further includes a second lifting assembly and a support frame. The second lifting assembly is mounted on the rack. The support frame is used to mount the front-rear positioning mechanism and the left-right positioning mechanism. The second lifting assembly is used to drive the support frame to lift the front-rear positioning mechanism and the left-right positioning mechanism relative to the material placing platform.

17. A control method of an automated unpacking apparatus, characterized by, The method is applied to the automatic unpacking device of any one of claims 1-16, and the method includes: controlling a material taking suction assembly of a material taking mechanism to adsorb the material to be unpacked and place the material on a material placing platform; The front and rear positioning mechanisms and the left and right positioning mechanisms are controlled to move towards the front and rear sides and the left and right sides of the material to be unpacked to position the material to be unpacked, and the first upper and lower pressing plates of the front and rear positioning mechanisms are controlled to press the front and rear sides of the material to be unpacked, and the second upper and lower pressing plates of the left and right positioning mechanisms are controlled to press the left and right sides of the material to be unpacked, and the front and rear positioning mechanisms and the left and right positioning mechanisms are controlled to move away from the material to be unpacked to tension the packaging of the material to be unpacked; The front and rear cutting members of the cutting mechanism are controlled to move along the front and rear sides of the packaging of the material to be unpacked to cut the packaging, and the first rotary driving member of the cutting mechanism is controlled to rotate to switch to the left and right cutting members, and the left and right cutting members are controlled to move along the left and right sides of the packaging of the material to be unpacked to cut the packaging; The material taking suction assembly of the material taking mechanism is controlled to suck part of the packaging of the material to be unpacked to recycle it, the front and rear positioning mechanisms and the left and right positioning mechanisms are controlled to move downward relative to the material placing platform to separate the material from the packaging, and the second rotary driving member of the material taking mechanism is controlled to rotate to switch to the material taking clamping assembly, and the material taking clamping assembly is controlled to clamp the unpacked material to unload it.

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