One-to-many sorting device

Abstract

The present application relates to the technical field of feeding production equipment, and discloses a one-to-many material arranging device. The one-to-many material arranging device comprises a supporting module, a buffer module, a cutting module, a feeding module and a composite robot, wherein the supporting module comprises a supporting mechanism and a supporting frame; one end of the buffer module is arranged inside the supporting mechanism, and the other end is mounted on the supporting frame; the buffer module comprises buffer mechanisms arranged in parallel, and the buffer mechanisms are used for buffering workpieces; the cutting module comprises a conveying mechanism, a pushing mechanism and a cutting mechanism; the conveying mechanism is provided with workpieces; the pushing mechanism is used for pushing the workpieces to a cutting station and limiting the workpieces in the cutting station; the cutting mechanism comprises a cutter, which can cut open and remove the kraft paper on the side of the workpiece; the feeding mechanism is used for conveying the workpieces on the buffer mechanisms to the conveying mechanism; the composite robot comprises a moving mechanism and a grabbing mechanism; the moving mechanism is used for adjusting the position of the grabbing mechanism; and the grabbing mechanism is used for moving the workpieces to the buffer mechanisms.

Description

Technical Field

[0001] This invention relates to the field of material feeding production equipment technology, and in particular to a material feeding device capable of handling one-to-many feeding. Background Technology

[0002] Currently, the existing cutting machines on the market are label paper cutting machines. The principle is that a fixed robot grabs the label paper from the workpiece tray at a fixed position and places the grabbed label paper on the feed channel of the cutting machine. It is transported to the cutting position through the feed channel. At the cutting position, the workpiece is pressed to create a gap between the kraft paper and the label paper inside. Then, the kraft paper is held in place by the side of the suction cup, and then cut by the cutter. After the cutting is completed, the kraft paper is pulled off by the suction cup and falls into the kraft paper collection box. It is then transferred to the discharge belt by the push plate and sent to the feed port of the main equipment.

[0003] In existing technologies, workpiece channels are typically set up in kraft paper cutting equipment or robotic feeding equipment to buffer a certain number of label paper stacks. However, the number of label paper stacks that can be buffered is limited, and it is easy for the buffered label paper stacks to be exhausted. This can easily lead to the packaging machine stopping due to untimely feeding or material shortage, thereby affecting production efficiency.

[0004] Therefore, it is necessary to design a one-to-many material handling equipment to solve the shortcomings of the original equipment, which does not have an auxiliary material buffer function and lacks emergency response capability in case of robot arm failure or certain special circumstances. Summary of the Invention

[0005] The purpose of this invention is to propose a one-to-many material handling device to solve the shortcomings of the original equipment, which does not have an auxiliary material buffer function and lacks emergency response capability in the event of a mechanical arm failure or certain special circumstances.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A one-to-many material handling device for feeding workpieces covered with kraft paper, comprising:

[0008] The support module includes a support mechanism and a support frame;

[0009] A buffer module, one end of which is disposed inside the support mechanism and the other end is installed on the support frame. The buffer module includes several parallel buffer mechanisms, which are used to buffer the workpiece.

[0010] The cutting module includes a conveying mechanism, a pushing mechanism, and a cutting mechanism. The conveying mechanism is equipped with a workpiece. The pushing mechanism is used to push the workpiece on the conveying mechanism to the cutting station and limit the workpiece to the cutting station. The cutting mechanism includes a cutting frame and a cutting tool that slides with the cutting frame. The cutting tool cuts open and removes the kraft paper on the side of the workpiece.

[0011] A feeding module is slidably disposed in the support mechanism along the vertical direction, and the feeding module is used to transport the workpiece on the buffer mechanism to the conveying mechanism;

[0012] A composite robot, comprising a moving mechanism and a gripping mechanism, wherein the moving mechanism is used to adjust the position of the gripping mechanism, and the gripping mechanism is used to move a workpiece to different buffer mechanisms.

[0013] This one-to-many material handling equipment utilizes a buffer module to buffer workpieces. Specifically, it sets up several parallel buffer mechanisms to achieve multi-channel buffering, thereby buffering a larger number of workpieces. This effectively solves the problem of packaging machine downtime caused by untimely feeding and material shortages, ensuring smooth production and effectively improving production efficiency. In addition, the pushing mechanism can confine the workpieces to designated cutting stations, thereby improving cutting accuracy and reducing the risk of workpiece damage during cutting. Furthermore, the feeding module transfers the workpieces from the buffer mechanism to the conveying mechanism, further ensuring timely feeding and avoiding material shortages. At the same time, the composite robot can meet the continuous feeding needs of multiple machines, thereby replacing manual feeding and ensuring the safety of both personnel and equipment. In addition, the composite robot also has the advantages of small footprint and flexible deployment.

[0014] As a preferred embodiment of the above-mentioned one-to-many material handling equipment, the cutting mechanism further includes a pressing component and an adsorption component disposed on the cutting frame. The cutting frame can move in a vertical direction. The pressing component presses down on the top surface of the workpiece body to form a gap between the kraft paper on the top and side surfaces and the workpiece. The adsorption component adsorbs the kraft paper on the top surface of the workpiece upward to separate the kraft paper from the workpiece.

[0015] The top of the workpiece is pressed down by the pressing component, thereby creating a gap between the workpiece and the kraft paper. When the cutting mechanism cuts the kraft paper, the gap between the blade and the workpiece allows the blade to avoid the workpiece during sliding relative to the cutting frame, thus further ensuring that the blade will not damage the workpiece during cutting. In addition, the adsorption component is used to adsorb the kraft paper on the top of the workpiece and separate the kraft paper from the workpiece, completing the cutting of the kraft paper.

[0016] As a preferred embodiment of the above-mentioned one-to-many material handling equipment, the cutting mechanism further includes a hook head disposed at the end of the blade. The hook head can first extend into the gap and cause the blade to cut and remove the kraft paper.

[0017] The hook head is inserted into the gap first to further prevent the tool from damaging the workpiece. In addition, the hook head can also open the kraft paper on the side of the tool to further increase the size of the gap and thus ensure the cutting effect.

[0018] As a preferred embodiment of the aforementioned one-to-many material handling equipment, the feeding module includes:

[0019] A fixing component is connected to the support mechanism. The fixing component is provided with a slide rail extending in a vertical direction, and a lifting unit that slides and engages with the slide rail is provided with the slide rail.

[0020] A synchronous belt conveyor assembly, which is horizontally mounted on the lifting unit;

[0021] A drive assembly is provided on the support mechanism below the synchronous belt conveyor assembly. The drive assembly is used to drive the synchronous belt conveyor assembly and the lifting unit to move up and down along the slide rail.

[0022] By using a lifting unit to control the synchronous belt conveyor assembly, the synchronous belt conveyor assembly can transport workpieces from different buffer mechanisms to the conveyor mechanism, thereby ensuring timely feeding and further avoiding feeding shortages.

[0023] As a preferred embodiment of the aforementioned one-to-many material handling equipment, the pushing mechanism includes:

[0024] A first pushing component is used to push the workpiece on the conveying mechanism to the cutting station;

[0025] The second pusher component is disposed opposite to the first pusher component. The second pusher component can move toward the first pusher component and cooperate with the first pusher component to clamp the workpiece on the cutting station.

[0026] By using the first and second feeding components in combination, the workpiece is clamped and confined at the cutting station, thereby improving the cutting accuracy.

[0027] As a preferred embodiment of the aforementioned one-to-many material handling equipment, the cutting module further includes a winding mechanism, which is used to unfold the cut kraft paper in a V-shape.

[0028] The use of a roll-up mechanism ensures that the cut kraft paper unfolds in a V-shape, making it easier for workers to recycle the cut kraft paper while ensuring the quality of recycling.

[0029] As a preferred embodiment of the aforementioned one-to-many material handling equipment, the coil mechanism includes:

[0030] A plurality of roller units are arranged at intervals, the roller units are disposed below the conveying mechanism, and the roller unit includes a first roller and a second roller;

[0031] A drive unit capable of driving the first roller to rotate, thereby winding the cut kraft paper between the second roller of the first roller, so that the kraft paper unfolds in a V-shape.

[0032] After the cutting mechanism cuts the kraft paper, the kraft paper and the workpiece are separated. At this time, the adsorption component releases its adsorption on the kraft paper, and the kraft paper will unfold along the cut. Then, the winding mechanism uses the first roller and the second roller to wind the kraft paper, so that the kraft paper is folded in half until it is completely wound into the winding mechanism. When the winding is completed, the kraft paper will leave the winding mechanism in a V-shape.

[0033] As a preferred embodiment of the aforementioned one-to-many material handling equipment, the gripping mechanism includes:

[0034] A robotic arm, wherein a base is provided on the robotic arm, and a vision unit is provided on the base, the vision unit being used to locate the position of the workpiece;

[0035] Multiple suction cups are disposed on the base, and the suction cups are configured to adsorb the kraft paper covering the workpiece according to the position located by the vision unit and transfer it to the buffer mechanism.

[0036] This composite robot uses suction cups to pick up the kraft paper covering the workpiece, transferring the workpiece to the buffer mechanism for automatic feeding. In addition, the vision unit is integrated into the base, eliminating the need for workers to install a separate support bracket for the vision unit, thus simplifying the structure. At the same time, it can also avoid interference from external factors on the vision unit, improving the positioning accuracy of visual recognition.

[0037] As a preferred embodiment of the aforementioned one-to-many material handling equipment, each of the suction cups can adsorb one of the workpieces. The composite robot also includes a monitoring unit, which is used to ensure that the suction cups correspond one-to-one with the workpieces. Furthermore, when the number and position of the workpieces picked up by the suction cups do not correspond one-to-one, the monitoring unit will provide a prompt and issue an alarm.

[0038] The suction cups are paired with workpieces one by one to improve the workpiece transfer efficiency. At the same time, the monitoring unit monitors and alarms to ensure that all suction cups of the composite robot are attached to workpieces, further ensuring the transfer efficiency of the composite robot.

[0039] As a preferred embodiment of the aforementioned one-to-many material handling equipment, the composite robot further includes an air source docking module, which includes a male docking head and a floating spring. The bottom of the buffer mechanism is also provided with a female docking head. The air source docking module can be pneumatically connected to the female docking head, and the floating spring can adjust the position of the male docking head. The composite robot is also provided with a charging port, which is located on the same vertical plane as the male docking head.

[0040] The position of the male connector is adjusted using a floating spring to facilitate docking with the female connector. At the same time, the male connector and the charging port are set to the same vertical plane, so that the air source and power source are connected at the same time, ensuring the stability of the power and air supply for the composite robot.

[0041] The beneficial effects of this invention are:

[0042] This invention proposes a one-to-many material handling device. This device utilizes a buffer module to buffer workpieces. Specifically, it sets up several parallel buffer mechanisms to achieve multi-channel buffering, thereby buffering a larger number of workpieces. This effectively solves the problem of packaging machine downtime caused by untimely feeding and material shortages, ensuring smooth production and effectively improving production efficiency. In addition, the pushing mechanism can confine the workpieces to designated cutting stations, thereby improving cutting accuracy and reducing the risk of workpiece damage during cutting. Furthermore, the feeding module transfers the workpieces from the buffer mechanism to the conveying mechanism, further ensuring timely feeding and avoiding material shortages. At the same time, the composite robot can meet the continuous feeding needs of multiple machines, thereby replacing manual feeding and ensuring the safety of both personnel and equipment. In addition, the composite robot also has the advantages of small footprint and flexible deployment. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of the material handling equipment that can handle one-to-many components provided by the present invention;

[0044] Figure 2 This is a schematic diagram of the cutting mechanism (conveying mechanism not shown) provided by the present invention;

[0045] Figure 3 This is a schematic diagram of the cutting mechanism provided by the present invention;

[0046] Figure 4 This is a schematic diagram of the feeding module provided by the present invention;

[0047] Figure 5 This is a structural schematic diagram of the collaborative robot and conveying mechanism provided by the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of the support module, cache module, and feeding module provided by the present invention;

[0049] Figure 7 This is a schematic diagram of the structure of the composite robot provided by the present invention;

[0050] Figure 8 This is a schematic diagram of the structure of the base, vision unit, and suction cup provided by the present invention;

[0051] Figure 9 This is a schematic diagram of the gas source docking module provided by the present invention;

[0052] Figure 10 This is a schematic diagram of the structure of the base and gripper provided by the present invention;

[0053] Figure 11 This is a flowchart of the operation of the composite robot provided by the present invention.

[0054] In the picture:

[0055] 1. Support module; 11. Support mechanism; 12. Support frame;

[0056] 2. Cache module; 21. Cache mechanism;

[0057] 3. Cutting module; 31. Conveying mechanism; 311. Feeding and turning channel; 312. Feeding acceleration channel; 313. Discharge buffer channel; 32. Pushing mechanism; 321. First pushing component; 322. Second pushing component; 33. Cutting mechanism; 331. Cutting frame; 332. Cutting tool; 333. Pressing component; 334. Adsorption component; 335. Hook; 34. Winding mechanism; 341. First roller; 342. Second roller;

[0058] 4. Feeding module; 41. Fixing component; 42. Slide rail; 43. Lifting unit; 44. Synchronous belt conveyor assembly; 45. Drive assembly; 451. Motor; 452. Electric cylinder;

[0059] 5. Composite robot; 51. Base; 52. Vision unit; 53. Suction cup; 54. Robotic arm; 55. AGV chassis; 56. Air source docking module; 561. Male docking connector; 562. Female docking connector; 563. Floating spring; 564. Guide plate;

[0060] 100. Workpiece; 200. Cutting station; 300. Collaborative robot. Detailed Implementation

[0061] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0062] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0064] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0065] This embodiment provides a one-to-many material handling device for feeding workpieces 100, which are covered with kraft paper, such as... Figures 1-3As shown, the one-to-many material handling equipment includes a support module 1, a buffer module 2, a cutting module 3, and a feeding module 4. The support module 1 includes a support mechanism 11 and a support frame 12. One end of the buffer module 2 is disposed inside the support mechanism 11, and the other end is mounted on the support frame 12. The buffer module 2 includes several parallel buffer mechanisms 21, which are used to buffer workpieces 100. The cutting module 3 includes a conveying mechanism 31, a pushing mechanism 32, and a cutting mechanism 33. Workpieces 100 are disposed on the conveying mechanism 31, and the pushing mechanism 32 is used to push the workpieces 100 on the conveying mechanism 31. The workpiece 100 is pushed to the cutting station 200 and confined on the cutting station 200. The cutting mechanism 33 includes a cutting frame 331 and a cutting tool 332 that slides with the cutting frame 331. The cutting tool 332 cuts and removes the kraft paper on the side of the workpiece 100. The feeding module 4 is slidably disposed in the support mechanism 11 in the vertical direction. The feeding module 4 is used to transport the workpiece 100 on the buffer mechanism 21 to the conveying mechanism 31. The composite robot includes a moving mechanism and a gripping mechanism. The moving mechanism is used to adjust the position of the gripping mechanism. The gripping mechanism is used to move the workpiece 100 to different buffer mechanisms 21. This one-to-many material handling equipment uses a buffer module 2 to buffer the workpieces 100. Specifically, several parallel buffer mechanisms 21 are set up to achieve multi-channel buffering, thereby buffering more workpieces 100. This effectively solves the problem of packaging machine downtime caused by untimely feeding and material shortage, ensuring smooth production and effectively improving production efficiency. In addition, the pusher mechanism 32 can limit the workpieces 100 to the designated cutting station 200, thereby improving cutting accuracy and preventing damage to the workpieces 100 during cutting. Furthermore, the feeding module 4 transfers the workpieces 100 on the buffer mechanism 21 to the conveying mechanism 31, further ensuring timely feeding and avoiding material shortage.

[0066] In this embodiment, the aforementioned cache mechanism 21 is configured as two.

[0067] Specifically, such as Figure 3As shown, the cutting mechanism 33 also includes a pressing component 333 and an adsorption component 334 disposed on the cutting frame 331. The cutting frame 331 can move vertically. The pressing component 333 presses down on the top surface of the workpiece 100 body, and the adsorption component 334 adsorbs the kraft paper on the top surface of the workpiece 100 upward, so that the kraft paper on the top and sides forms a gap with the workpiece 100. By pressing down on the top of the workpiece 100 by the pressing component 333, a gap is formed between the workpiece 100 and the kraft paper. When the cutting mechanism 33 cuts the kraft paper, the gap between the cutter 332 and the workpiece 100 allows the cutter 332 to avoid the workpiece 100 during sliding relative to the cutting frame 331, thereby further ensuring that the cutter 332 will not damage the workpiece 100 during cutting. In addition, the adsorption component 334 adsorbs the kraft paper on the top of the workpiece 100 and separates the kraft paper from the workpiece 100, thus completing the cutting of the kraft paper.

[0068] Furthermore, such as Figure 3 As shown, the cutting mechanism 33 also includes a hook 335, which is disposed at the end of the cutter 332. The hook 335 can first extend into the gap and cause the cutter 332 to cut and remove the kraft paper. By using the hook 335 to first extend into the gap, the cutter 332 is further prevented from damaging the workpiece 100. In addition, the hook 335 can also open up the kraft paper on the side of the cutter 332, thereby further expanding the size of the gap and ensuring the cutting effect.

[0069] Optionally, the cutting mechanism 33 further includes a material stop assembly, wherein the material stop assembly is provided with a material stop plate for blocking the workpiece 100 from the first material pusher assembly 321.

[0070] Furthermore, such as Figure 4 As shown, the feeding module 4 includes a fixing member 41, a synchronous belt conveyor assembly 44, and a drive assembly 45. The fixing member 41 is connected to the support mechanism 11, and a slide rail 42 extending vertically is provided on the fixing member 41. A lifting unit 43 is provided on the slide rail 42 and slides therewith. The synchronous belt conveyor assembly 44 is horizontally arranged on the lifting unit 43. The drive assembly 45 is arranged on the support mechanism 11 below the synchronous belt conveyor assembly 44, and is used to drive the synchronous belt conveyor assembly 44 and the lifting unit 43 to move up and down along the slide rail 42. The lifting unit 43 controls the synchronous belt conveyor assembly 44, enabling the synchronous belt conveyor assembly 44 to transport the workpieces 100 from different buffer mechanisms 21 to the conveying mechanism 31, thereby ensuring timely feeding and further avoiding feeding shortages.

[0071] Specifically, such as Figure 4As shown, the drive assembly 45 includes a motor 451 and an electric cylinder 452. The electric cylinder 452 is vertically arranged, and the upper end of the extension rod of the electric cylinder 452 is connected to the bottom of the synchronous belt conveyor assembly 44. The motor 451 is used to drive the extension rod to extend or retract. The lower part of the electric cylinder 452 is connected to the support mechanism 11 through the support frame 12, and the motor 451 is mounted on the support frame 12.

[0072] Furthermore, such as Figure 2 As shown, the feeding mechanism 32 includes a first feeding component 321 and a second feeding component 322. The first feeding component 321 is used to push the workpiece 100 on the conveying mechanism 31 to the cutting station 200. The second feeding component 322 is arranged opposite to the first feeding component 321 and can move towards the first feeding component 321, and cooperate with the first feeding component 321 to clamp the workpiece 100 on the cutting station 200. By using the cooperation of the first feeding component 321 and the second feeding component 322, the workpiece 100 is clamped and limited on the cutting station 200, thereby improving the cutting accuracy.

[0073] Specifically, such as Figure 5 As shown, the conveying mechanism 31 mainly consists of an infeed turning channel 311, an infeed accelerating channel 312, and an outfeed buffer channel 313. After the workpiece 100 is transferred through the above-mentioned double-layer buffer mechanism 21, it is first buffered in the infeed turning channel 311, then separated from the subsequent workpiece 100 by the infeed accelerating channel 312 and pushed into the cutting station 200 by the first pushing component 321. After the cutting is completed in the cutting station 200, the kraft paper is first removed, and then pushed to the outfeed buffer channel 313 by the second pushing component 322. Finally, the cut workpiece 100 is sent into the main machine inlet through the outfeed buffer channel 313.

[0074] Furthermore, such as Figure 3 As shown, the cutting module 3 also includes a winding mechanism 34, which is used to unfold the cut kraft paper in a V-shape. The winding mechanism 34 ensures that the cut kraft paper unfolds in a V-shape, making it easier for workers to recycle the cut kraft paper and ensuring the quality of recycling.

[0075] Specifically, such as Figure 2As shown, the winding mechanism 34 includes roller units and a drive unit. Several roller units are arranged at intervals below the conveying mechanism 31. Each roller unit includes a first roller 341 and a second roller 342. The drive unit can drive the first roller 341 to rotate, thereby winding the cut kraft paper between the first roller 341 and the second roller 342, so that the kraft paper unfolds in a V-shape. After the cutting mechanism 33 cuts the kraft paper, the kraft paper and the workpiece 100 are separated. At this time, the adsorption component 334 releases its adsorption on the kraft paper, and the kraft paper unfolds along the cut. Then, the winding mechanism 34 uses the first roller 341 and the second roller 342 to wind the kraft paper, folding it in half until it is completely wound into the winding mechanism 34. After winding is complete, the kraft paper leaves the winding mechanism 34 in a V-shape.

[0076] Specifically, after workpiece 100 enters the feeding acceleration channel 312 and is transported to the cutting station 200, the first pushing component 321 clamps workpiece 100 vertically and then pushes it horizontally to the baffle plate, where the baffle plate blocks workpiece 100. At this time, the pressing component 333 presses down, pressing workpiece 100 and kraft paper down onto the top of the kraft paper. Afterward, the first pushing component 321 retracts and resets, and the baffle plate descends to the middle position of workpiece 100 to cooperate with the adsorption component 334 to squeeze the kraft paper and workpiece 100 through the gap. At this time, the cutter 332 cuts vertically, and the hook 335 first extends into the gap and then cuts. After cutting is completed, the baffle plate descends to the... At the lowest position of workpiece 100, the adsorption component 334 uses negative pressure to hold the top end of the kraft paper, separating the top end of the kraft paper to be cut from workpiece 100. Then, the first roller 341 and the second roller 342 of the winding mechanism 34 rise, lifting workpiece 100 and causing the first roller 341 and the second roller 342 to start rolling the paper down. The first roller 341 and the second roller 342 first roll slowly, and the kraft paper is slowly rolled down. Then, the kraft paper will unfold in a V-shape. The first roller 341 and the second roller 342 increase their speed until the kraft paper is completely rolled down. At this time, the first roller 341 and the second roller 342 stop rolling, and the paper unloading is completed. After that, all components reset, and one cutting process ends.

[0077] Specifically, such as Figure 7 and Figure 8As shown, the composite robot 5 includes a robotic arm 54 and suction cups 53. The robotic arm 54 is equipped with a base 51, and a vision unit 52 is mounted on the base 51. The vision unit 52 is used to locate the position of the workpiece 100. Several suction cups 53 are provided, all mounted on the base 51. The suction cups 53 are configured to adsorb the kraft paper covering the workpiece 100 according to the position located by the vision unit 52 and transfer it to the buffer mechanism 21. This composite robot 5 utilizes the suction cups 53 to adsorb the kraft paper covering the workpiece 100 to transfer the workpiece 100 to the buffer mechanism 21, achieving automatic feeding. Furthermore, integrating the vision unit 52 onto the base 51 eliminates the need for a separate support bracket for the vision unit 52, simplifying the structure and preventing external factors from interfering with the vision unit 52, thus improving the positioning accuracy of visual recognition.

[0078] Specifically, each suction cup 53 can adsorb one workpiece 100. The composite robot 5 also includes a monitoring unit, which is used to ensure a one-to-one correspondence between the suction cups 53 and the workpieces 100. Furthermore, if the number and position of the workpieces 100 picked up by the suction cups 53 do not correspond one-to-one, the monitoring unit will issue a prompt and alarm. By ensuring a one-to-one correspondence between the suction cups 53 and the workpieces 100, the transfer efficiency of the workpieces 100 is improved. Simultaneously, the monitoring and alarm functions of the monitoring unit ensure that all suction cups 53 of the composite robot 5 are adsorbed with workpieces 100, further guaranteeing the transfer efficiency of the composite robot 5.

[0079] Optionally, such as Figure 7 and Figure 9 As shown, the composite robot 5 also includes an AGV chassis 55, which has a charging port. Furthermore, the composite robot 5 is equipped with an air source docking module 56, which includes a male docking head 561 and a floating spring 563. A female docking head 562 is located at the bottom of the buffer mechanism 21. The male docking head 561 and the charging port of the AGV chassis 55 are on the same vertical plane. Its main function is to connect the air source and power supply simultaneously before loading, ensuring the stability of the composite robot 5's power and air supply. In addition, the floating spring 563 can adjust the position of the male docking head 561 to facilitate docking between the male docking head 561 and the female docking head 562. Then, the robotic arm 54 performs destacking and loading of the workpiece 100. After the task is completed, the air source and power supply are automatically disconnected. Moreover, the above-mentioned structure of the composite robot 5 allows it to dock with both the charging port and the air source simultaneously, ensuring stable power and air supply for the equipment.

[0080] In this embodiment, the mobile mechanism is mainly used for navigation, positioning, and air / power supply docking. It works in conjunction with the gripping mechanism to unpack and unload workpieces 100, ensuring the stability of the operation. The mobile mechanism includes four omnidirectional wheels located under the AGV chassis 55, thereby enabling the adjustment of the gripping mechanism's position.

[0081] To address the accuracy error during AGV chassis positioning 55, a guide plate 564 was added to cooperate with a floating spring 563 during air source docking, so that the device can accurately dock and supply air during docking.

[0082] Optionally, the aforementioned vision unit 52 is a vision camera, wherein the vision camera identifies the workpiece 100 on the workpiece 100 tray by taking pictures, provides the precise coordinates and quantity of the workpiece 100, and controls the corresponding number and position of the suction cups 53 to pick up the corresponding workpiece 100.

[0083] Preferably, such as Figure 11 As shown, multiple feeding methods are set up for different material inflow directions. Specifically: For the method where the material inflow direction is the same as the direction of workpiece 100 on the channel, the composite robot 5 prioritizes feeding the lower layer, using a gripping method of 4 packs followed by 2 packs, and adopting a forward gripping and placing method. After the lower layer is full, the upper layer is replenished. When the entire channel is full, the composite robot 5 leaves the work area. For the method where the material inflow direction is opposite to the direction of workpiece 100 on the channel, the composite robot 5 determines whether each stack of material should be placed on the upper or lower layer based on the position result obtained from 3D vision photography, combined with whether the lower layer of the channel needs replenishment, whether the upper layer is full, and whether the label paper carries barcode production information, etc. The gripping method is 4 packs followed by 3 packs, and for 4 packs, a reverse gripping and forward placing method is adopted (can be placed on both upper and lower layers). For 3 packs, the gripping posture is changed to forward gripping and reverse placing (only the lower layer is placed) to meet the arm extension of the robotic arm 54. After the lower layer is full, the composite robot 5 leaves the work area.

[0084] In this embodiment, the chassis of the composite robot 5 uses laser SLAM for navigation. Its advantage is that it can achieve accurate positioning and navigation without the need for additional auxiliary positioning devices such as magnetic strips, QR codes, and reflectors. In addition, the composite robot 5 uses a high-capacity power lithium battery to meet the continuous feeding needs of one composite robot 5 for multiple devices. Furthermore, the robotic arm 54 of the composite robot 5 can detect approaching obstacles or human bodies based on the laser of the chassis and slow down or stop its operation, thereby ensuring the safety of human and equipment.

[0085] In other preferred embodiments, the suction cup 53 of the composite robot 5 can also be replaced with a gripper. The loading method is that the gripper picks up the workpiece 100 for individual loading. The advantage is that the method and process of the gripper picking up the workpiece 100 for individual loading is relatively simple, which facilitates maintenance and replacement of parts by the staff and reduces processing and usage costs. In addition, after changing the suction cup 53 of the composite robot gripping mechanism to a gripper, the composite robot 5 can pick up other types of materials, which improves the versatility of the composite robot 5.

[0086] Optionally, this embodiment also includes a collaborative robot 300 mounted on the support mechanism 11. The collaborative robot 300 used in this embodiment can cooperate with the operator without a safety fence. When the robot comes into contact with the operator, it will stop safely. The excellent industrial shape design can effectively prevent the robot from squeezing the operator. Because of this advantage, the robot selected in this design can eliminate the need for a safety fence, reduce the system size, and meet the requirements of the international standard ISO 10218-1.

[0087] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A one-to-many material handling device for feeding workpieces (100), wherein the workpieces (100) are covered with kraft paper, characterized in that, include: Support module (1), the support module (1) includes a support mechanism (11) and a support frame (12); The cache module (2) is located inside the support mechanism (11) at one end and installed on the support frame (12) at the other end. The cache module (2) includes several parallel cache mechanisms (21) for caching the workpiece (100). The cutting module (3) includes a conveying mechanism (31), a pushing mechanism (32) and a cutting mechanism (33). The conveying mechanism (31) is equipped with a workpiece (100). The pushing mechanism (32) is used to push the workpiece (100) on the conveying mechanism (31) to the cutting station (200) and limit the workpiece (100) on the cutting station (200). The cutting mechanism (33) includes a cutting frame (331) and a cutting tool (332) that slides with the cutting frame (331). The cutting tool (332) cuts open and removes the kraft paper on the side of the workpiece (100). The feeding module (4) is slidably disposed in the support frame (12) in the vertical direction. The feeding module is used to transport the workpiece (100) on the buffer mechanism (21) to the conveying mechanism (31). The composite robot (5) includes a moving mechanism and a gripping mechanism. The moving mechanism is used to adjust the position of the gripping mechanism, and the gripping mechanism is used to move the workpiece (100) to different buffer mechanisms (21). The cutting mechanism (33) further includes a pressing component (333) and an adsorption component (334) disposed on the cutting frame (331). The cutting frame (331) can move in the vertical direction. The pressing component (333) presses down on the top surface of the workpiece (100) body so that the kraft paper on the top and side surfaces forms a gap with the workpiece (100). The adsorption component (334) adsorbs the kraft paper on the top surface of the workpiece (100) upward so that the kraft paper is separated from the workpiece (100). The cutting mechanism (33) further includes a hook (335), which is disposed at the end of the cutter (332). The hook (335) can first extend into the gap and cause the cutter (332) to cut and remove the kraft paper. The conveying mechanism (31) includes an infeed turning channel (311), an infeed acceleration channel (312), and an outfeed buffer channel (313). After the workpiece (100) is handed over through the buffer mechanism (21), it is first buffered in the infeed turning channel (311), then separated from the workpiece (100) after passing through the infeed acceleration channel (312), and pushed into the cutting station (200) by the pushing mechanism (32).

2. The one-to-many material handling equipment according to claim 1, characterized in that, The feeding module (4) includes: The fixing member (41) is connected to the support frame (12). The fixing member (41) is provided with a slide rail (42) extending in the vertical direction. The slide rail (42) is provided with a lifting unit (43) that slides and cooperates with it. A synchronous belt conveyor assembly (44) is horizontally mounted on the lifting unit (43); The drive assembly (45) is disposed on the support frame (12) below the synchronous belt conveyor assembly (44). The drive assembly (45) is used to drive the synchronous belt conveyor assembly (44) and the lifting unit (43) to move up and down along the slide rail (42).

3. The one-to-many material handling equipment according to claim 1, characterized in that, The pushing mechanism (32) includes: A first pusher assembly is used to push the workpiece (100) on the conveying mechanism (31) to the cutting station (200). The second pusher assembly is disposed opposite to the first pusher assembly. The second pusher assembly can move toward the first pusher assembly and cooperate with the first pusher assembly to clamp the workpiece (100) on the cutting station (200).

4. The one-to-many material handling equipment according to claim 3, characterized in that, The cutting module (3) also includes a winding mechanism (34) for unwinding the cut kraft paper in a V-shape.

5. The one-to-many material handling equipment according to claim 4, characterized in that, The coiling mechanism (34) includes: A plurality of roller units are arranged at intervals, the roller units are arranged below the conveying mechanism (31), and the roller units include a first roller (341) and a second roller (342). A drive unit capable of driving the first roller (341) to rotate, thereby winding the cut kraft paper between the first roller (341) and the second roller (342) so that the kraft paper unfolds in a V-shape.

6. The one-to-many material handling equipment according to claim 1, characterized in that, The grasping mechanism includes: A robotic arm (54) is provided with a base (51), and a vision unit (52) is provided on the base (51). The vision unit (52) is used to locate the position of the workpiece (100). Multiple suction cups (53) are disposed on the base (51). The suction cups (53) are configured to adsorb the kraft paper covering the workpiece (100) according to the position located by the vision unit (52) and transfer it to the buffer mechanism (21).

7. The one-to-many material handling equipment according to claim 6, characterized in that, Each of the suction cups (53) can adsorb one of the workpieces (100). The composite robot (5) also includes a monitoring unit, which is used to ensure that the suction cups (53) correspond one-to-one with the workpieces (100). When the number and position of the workpieces (100) picked up by the suction cups (53) do not correspond one-to-one, the monitoring unit will prompt and alarm.

8. The one-to-many material handling equipment according to any one of claims 1-7, characterized in that, The composite robot (5) also includes an air source docking module (56), which includes a male docking head (561) and a floating spring (563). The bottom of the buffer mechanism (21) is also provided with a female docking head (562). The air source docking module (56) can be pneumatically connected to the female docking head (562). The floating spring (563) can adjust the position of the male docking head (561). The composite robot (5) is also provided with a charging port, which is located on the same vertical plane as the male docking head (561).

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