Packaging tray conveyor system

Abstract

The present invention relates to the technical field of food processing equipment, and provides a packaging material tray conveying system, comprising a turning device, a film-tearing device, a transfer device, an axis-threading device, and a loading device; the turning device is used to turn the packaging material tray to a level axis; the transfer device is suitable for transferring the packaging material tray to the film-tearing device; the film-tearing device is used to cut and remove the packaging film at both ends of the packaging material tray on the transfer device; the axis-threading device is used to insert the packaging material shaft into the packaging material tray after removing the packaging film at both ends; the loading device is used to lift the packaging material tray after the axis-threading via the packaging material shaft; the film-tearing device is also used to cut and remove the packaging film from the side walls of the packaging material tray on the loading device; the loading device is also used to supply the packaging material tray with the packaging film removed from both ends and the side walls to a filling machine. The present invention can realize the entire process of turning, transferring, film-tearing, axis-threading, and loading the packaging material tray, replacing manual operations, effectively reducing labor costs, improving production efficiency, and preventing human pollution, effectively improving production quality.

Description

Technical Field

[0001] The present invention relates to the technical field of food processing equipment, and in particular to a packaging material tray conveying system. Background Art

[0002] Currently, filling machines rely on manual transport to replace packaging trays. Operators use hydraulic forklifts to transport packaging materials from the warehouse to the filling machines, where they manually load the materials. The packaging trays are large, and manual transport is cumbersome, relying on manual experience and high labor intensity. Working with a forklift also poses the risk of mechanical injury and is prone to contamination, hindering production efficiency and quality. Summary of the Invention

[0003] The present invention provides a packaging material tray conveying system, which is used to solve the problem in the prior art that a filling machine replaces packaging material trays by manual conveying, which is not conducive to improving production efficiency and production quality.

[0004] The present invention provides a packaging material tray conveying system, comprising a turning device, a film tearing device, a transfer device, an axis threading device and a loading device;

[0005] The overturning device is used to overturn the packaging material tray to a horizontal axis; the transfer device is provided with a vertical placement table, which is suitable for supporting the packaging material tray with a horizontal axis, and the transfer device is suitable for transferring the packaging material tray after being overturned by the overturning device to the film tearing device; the film tearing device is used to cut and remove the packaging film at both ends of the packaging material tray on the transfer device; the shaft-threading device is used to pass the packaging material shaft into the packaging material tray with the packaging film at both ends removed by the film-threading device; the loading device is used to lift the packaging material tray after passing through the shaft-threading device through the packaging material shaft;

[0006] The film tearing device is also used to cut and remove the packaging film on the side wall of the packaging material tray on the loading device;

[0007] The loading device is also used to supply the packaging material tray with the packaging film at both ends and side walls removed to the filling machine.

[0008] According to the present invention, a packaging material tray conveying system is provided.

[0009] The turning device comprises:

[0010] a pair of clamping members, the pair of clamping members being arranged opposite to each other;

[0011] a flip driving mechanism connected to the pair of clamping members and used to drive the pair of clamping members to rotate vertically and synchronously;

[0012] a clamping drive mechanism, connected to the flipping drive mechanism and the pair of clamping members, and used to drive the pair of clamping members to move closer to or away from each other;

[0013] The clamping and lifting mechanism is connected to the clamping drive mechanism and is used to drive the clamping drive mechanism, the flip drive mechanism and the pair of clamping members to move up and down.

[0014] According to a packaging material tray conveying system provided by the present invention, the turning device further includes:

[0015] The translation drive mechanism is connected to the clamping and lifting mechanism and is used to drive the clamping and lifting mechanism to move horizontally.

[0016] According to a packaging material tray conveying system provided by the present invention, the transfer device is an automatically guided transport vehicle, a vertical placement platform is provided on the upper side of the transfer device, and limiting structures are provided on both sides of the vertical placement platform.

[0017] According to a packaging material tray conveying system provided by the present invention, the loading device is further used to remove the packaging material shaft from the filling machine and supply it to the shaft threading device.

[0018] According to a packaging material tray conveying system provided by the present invention, the loading device includes:

[0019] A base, wherein the base is provided with a walking mechanism;

[0020] A rotating body is horizontally rotatably arranged on the base;

[0021] a rotation driving member connected to the rotating body, wherein the rotation driving member is adapted to drive the rotating body to rotate horizontally;

[0022] A pair of packaging material shaft racks, the pair of packaging material shaft racks are arranged on the rotating body in opposite directions, and the upper sides of the packaging material shaft racks are provided with limiting grooves;

[0023] The frame lifting drive structure is connected to the packaging material axis frame and is suitable for driving the packaging material axis frame to rise and fall.

[0024] According to a packaging material tray conveying system provided by the present invention, the loading device further includes:

[0025] The pitch driving structure is connected to the packaging material axis frame and is suitable for driving the packaging material axis frame to rotate vertically.

[0026] According to a packaging material tray conveying system provided by the present invention, the pitch drive structure includes:

[0027] A pitch drive gear fixedly connected to the rotating shaft of the packaging material shaft frame;

[0028] a pitch drive rack meshing with the pitch drive gear;

[0029] A pitch driving member, wherein the pitch driving member is a telescopic driving member, a fixed end of the pitch driving member is connected to the frame lifting drive structure, and a movable end of the pitch driving member is fixedly connected to the pitch driving rack;

[0030] The lifting drive structure is suitable for driving the pitch driving member and the pitch driving rack to rise and fall synchronously with the packaging material axis frame.

[0031] According to a packaging material tray conveying system provided by the present invention, the film tearing device includes:

[0032] An air duct cover, wherein a cutting piece and a cutting drive structure are provided at one end of the air duct cover, the cutting drive structure is connected to the cutting piece, and the cutting drive structure is used to drive the cutting piece to move along a preset track;

[0033] An air duct tube is a telescopic tube structure, one end of which is connected to a side of the air duct cover facing away from the cutting piece;

[0034] The negative pressure mechanism is connected to one end of the wind tube tube away from the wind tube cover.

[0035] According to a packaging material tray conveying system provided by the present invention, the preset trajectory is a circular trajectory or a linear trajectory, and the cutting drive structure is suitable for driving the cutting piece to move circumferentially along the circular trajectory or for driving the cutting piece to move reciprocatingly along the linear trajectory.

[0036] The packaging material tray conveying system provided by the present invention can realize the entire process of flipping, transporting, tearing film, threading shafts and loading packaging material trays, replacing manual operations, effectively reducing labor costs, improving production efficiency, and will not cause human pollution, effectively improving production quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 It is a schematic diagram of the overall structure of the packaging material tray conveying system provided by the present invention;

[0039] Figure 2 It is a schematic diagram of the coordinated structure of the turning device and the transfer device provided by the present invention;

[0040] Figure 3It is a schematic diagram of the cooperation structure of the film tearing device and the shaft threading device provided by the present invention;

[0041] Figure 4 This is one of the schematic diagrams of the cutting drive structure of the first and second wind tube covers in the film tearing device provided by the present invention;

[0042] Figure 5 This is the second schematic diagram of the cutting drive structure of the first and second wind tube covers in the film tearing device provided by the present invention;

[0043] Figure 6 This is a schematic structural diagram of the third air duct cover in the film tearing device provided by the present invention;

[0044] Figure 7 This is a diagram of the use state of the feeding device provided by the present invention;

[0045] Figure 8 This is one of the structural diagrams of the feeding device provided by the present invention;

[0046] Figure 9 This is the second structural diagram of the feeding device provided by the present invention;

[0047] Figure 10 This is the third structural diagram of the feeding device provided by the present invention;

[0048] Figure 11 It is a schematic diagram of the frame lifting drive structure and the pitching drive structure in the loading device provided by the present invention;

[0049] Reference numerals:

[0050] 100. Turning device; 101. Clamping member; 102. Clamping drive mechanism; 103. Clamping lifting mechanism; 104. Support frame; 105. Translation slider;

[0051] 200, film tearing device; 201, first air duct cover; 202, second air duct cover; 203, third air duct cover; 204, air duct tube; 205, negative pressure mechanism; 206, cutting piece; 207, inner cylinder; 208, outer cylinder; 209, annular groove; 210, mounting ring; 211, first cutting drive motor; 212, drive gear; 213, annular gear; 214, second cutting drive motor; 215, linear slide; 216, first guardrail; 217, second guardrail;

[0052] 300, transfer device; 301, vertical placement table; 302, support roller; 303, limiting structure;

[0053] 400, axis threading device; 401, translation track; 402, six-axis robotic arm; 403, clamping mechanism;

[0054] 500, loading device; 501, base; 502, rotating body; 503, packaging material axis frame; 504, limiting groove; 505, walking mechanism; 506, screw drive motor; 507, lifting drive screw; 508, screw slider; 509, bracket moving guide rail; 510, supporting rod; 511, rotating axis; 512, moving guide rail groove; 513, mounting groove; 515, pitch drive member; 516, pitch drive rack; 517, pitch drive gear;

[0055] 600, packaging material tray; 601, packaging material shaft;

[0056] 700. Filling machine. DETAILED DESCRIPTION

[0057] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0058] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0059] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; and direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on the specific circumstances.

[0060] In the embodiments of the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, a first feature being "above," "above," or "above" a second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "below," "below," or "below" a second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0061] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0062] The following combination Figures 1-11 The packaging material tray conveying system of an embodiment of the present invention is described. The packaging material tray conveying system is used to perform operations such as taking out, turning over, tearing off the film, threading the shaft, and loading the packaging material tray 600 covered with packaging film, wherein the loading operation refers to delivering the packaging material tray 600 after turning over, tearing off the film, and threading the shaft into the filling machine 700.

[0063] Combine Figure 1According to an embodiment of the present invention, the packaging material tray conveying system includes a turning device 100, a film tearing device 200, a transfer device 300, an axis-threading device 400 and a loading device 500; the turning device 100 is used to turn the packaging material tray 600 to a horizontal axis; the transfer device 300 is provided with a vertical placement table 301, the vertical placement table 301 is suitable for supporting the packaging material tray with a horizontal axis, and the transfer device 300 is suitable for transferring the packaging material tray 600 turned over by the turning device 100 to the film tearing device 200; the film tearing device 200 is used to cut and remove the transfer device 100. The packaging film at both ends of the packaging material tray 600 on the device 300; the axis-threading device 400 is used to pass the packaging material axis 601 into the packaging material tray 600 whose packaging film at both ends has been removed by the film-tearing device 200; the loading device 500 is used to lift the packaging material tray 600 after passing through the axis-threading device 400 through the packaging material axis 601; the film-tearing device 200 is also used to cut and remove the packaging film on the side wall of the packaging material tray 600 on the loading device 500; the loading device 500 is also used to supply the packaging material tray 600 with the packaging film at both ends and the side wall removed to the filling machine 700.

[0064] In an embodiment of the present invention, the working process of the packaging material tray conveying system is as follows: the packaging material tray 600 is flipped to the horizontal axis by the flipping device 100, the transfer device 300 supports the packaging material tray 600 after passing through the flipping device 100 and transfers it to the working position of the film tearing device 200, the film tearing device 200 tears off the packaging film at both ends of the packaging material tray 600, and the axis threading device 400 inserts the packaging material shaft 601 into the packaging material tray 600 with the packaging film at both ends removed by the film tearing device 200, the loading device 500 lifts the packaging material tray 600 after passing through the axis threading device 400 through the packaging material shaft 601, so that the packaging material tray 600 is separated from the transfer device 300, at this time, the film tearing device 200 tears off the packaging film on the side wall of the packaging material tray 600, and finally, the loading device 500 supplies the packaging material tray 600 with the packaging film at both ends and the side wall removed to the filling machine 700.

[0065] In the embodiment of the present invention, the packaging material tray conveying system can replace manual operation to complete the entire process of packaging material replacement of the filling machine 700, eliminating manual steps, significantly shortening the time for replacing packaging materials, and improving work efficiency and production safety.

[0066] According to the packaging material tray conveying system of the embodiment of the present invention, the flipping device 100 flips the packaging material tray 600 to a position where the axis is horizontal, which facilitates film tearing, axis threading and material loading operations.

[0067] Combine Figure 2In some embodiments of the present invention, the flipping device 100 includes a pair of clamping members 101, a clamping drive mechanism 102, a flipping drive mechanism (not shown in the figure) and a clamping lifting mechanism 103. The pair of clamping members 101 are arranged opposite to each other, the clamping drive mechanism 102 is used to drive the pair of clamping members 101 to move closer to or away from each other, the flipping drive mechanism is used to drive the pair of clamping members 101 to rotate vertically synchronously, and the clamping lifting mechanism 103 is used to drive the pair of clamping members 101 to move up and down.

[0068] In this embodiment, when the clamping drive mechanism 102 drives the pair of clamping members 101 toward each other, the pair of clamping members 101 clamp the packaging material tray 600 , and when the clamping drive mechanism 102 drives the pair of clamping members 101 away from each other, the packaging material tray 600 can be released.

[0069] Optionally, the clamping member 101 is an arc-shaped plate, which is compatible with the side wall of the packaging material tray 600, can better cooperate with and clamp the packaging material tray 600, and can avoid damaging the packaging material tray 600.

[0070] Optionally, two clamping drive mechanisms 102 are provided, and the two clamping drive mechanisms 102 are respectively connected to a pair of clamping members 101, and each clamping drive mechanism 102 is adapted to drive the corresponding clamping member 101 to approach the other clamping member 101. The two clamping drive mechanisms 102 operate synchronously to drive the pair of clamping members 101 to move toward or away from each other.

[0071] Optionally, the clamping drive mechanism 102 includes a first drive arm, a second drive arm and a clamping drive member, one end of the first drive arm is hinged to one end of the second drive arm, the end of the second drive arm facing away from the first drive arm is connected to the side of the corresponding clamping member 101 away from the other clamping member 101, the clamping drive member connects the first drive arm and the second drive arm, and the clamping drive member is used to drive the first drive arm and the second drive arm to rotate relative to each other, and adjust the angle between the first drive arm and the second drive arm.

[0072] Optionally, the clamping drive member is a telescopic drive structure, such as a pneumatic cylinder, a hydraulic cylinder, or a telescopic motor. The clamping drive member is located on adjacent sides of the two clamping drive mechanisms 102, with one end of the clamping drive member hinged to the first drive arm and the other end hinged to the second drive arm. When the clamping drive member is shortened, the angle between the first drive arm and the second drive arm decreases, and at this time, the clamping member 101 on the second drive arm moves toward the other clamping member 101; when the clamping drive member is extended, the angle between the first drive arm and the second drive arm increases, and at this time, the clamping member 101 on the second drive arm moves away from the other clamping member 101. It is understandable that the clamping drive member in the embodiment of the present invention can also be other drive members such as a rotary motor, as long as it can drive the first drive arm and the second drive arm to rotate relative to each other to adjust the angle between the first drive arm and the second drive arm.

[0073] In this embodiment, the lifting and lowering actions of the packaging material tray 600 can be achieved by driving a pair of clamping members 101 to move up and down through the clamping lifting mechanism 103 and driving a pair of clamping members 101 to move closer to or away from each other through the clamping driving mechanism 102.

[0074] Optionally, the movable end of the clamping lifting mechanism 103 is connected to the first driving arms of the two clamping driving mechanisms 102 at the same time.

[0075] Optionally, the clamping and lifting mechanism 103 is a telescopic drive structure such as a vertically arranged cylinder, a hydraulic cylinder or a telescopic motor, and the movable end of the clamping and lifting mechanism 103 is connected to the two clamping drive mechanisms 102 .

[0076] In this embodiment, the flip drive mechanism drives the pair of clamping members 101 to rotate synchronously vertically, thereby achieving the flipping action of the packaging material tray 600. Specifically, when the packaging material tray 600 is placed horizontally, the pair of clamping members 101 clamp the packaging material tray 600 and, driven by the clamping and lifting mechanism 103, lift the packaging material tray 600. When the flip drive mechanism drives the pair of clamping members 101 to rotate synchronously vertically, the packaging material tray 600 can be driven to rotate through an angle of 90°, rotating the packaging material tray 600 from a vertical axis to a horizontal axis.

[0077] Optionally, two flip drive mechanisms are provided, and the two flip drive mechanisms correspond to a pair of clamping members 101 respectively. Each flip drive mechanism can drive the corresponding clamping member 101 to rotate, and the two flip drive mechanisms act synchronously to drive the pair of clamping members 101 to rotate vertically synchronously.

[0078] Optionally, a flip drive mechanism is provided at the connection position between the clamping member 101 and the clamping drive mechanism 102. Specifically, a rotating shaft is provided on one side of the clamping member 101, and the rotating shaft is connected to the second drive arm. The flip drive mechanism includes a rotary motor and a transmission assembly. The motor shaft of the rotary drive motor is connected to the rotating shaft of the clamping member 101 through the transmission assembly. The transmission assembly can be a gear set or a synchronous belt, etc., which is not specifically limited here.

[0079] In some embodiments of the present invention, the flipping device 100 further includes a translation drive mechanism, which is connected to the clamping and lifting mechanism 103 and is used to drive the clamping and lifting mechanism 103 to move horizontally.

[0080] Optionally, the translation drive mechanism includes a support frame 104, a translation slider 105, and a translation drive structure (not shown). The translation slider 105 is horizontally slidably connected to the support frame 104 and is connected to the clamping and lifting mechanism 103. The translation slider 105 can support the clamping and lifting mechanism 103. The translation drive structure is connected to the translation slider 105 and is used to drive the translation slider 105 to slide horizontally.

[0081] Optionally, the translation drive structure includes a translation drive motor and a translation drive screw, which is rotatably arranged on the support frame 104 and threadedly connected to the translation slider 105. The translation drive motor and the translation drive screw are connected through a structure such as a gear set, a coupling or a synchronous belt. When the translation drive motor is running, it can drive the translation drive screw to rotate axially, thereby driving the translation slider 105 to slide horizontally.

[0082] In this embodiment, the packaging material tray 600 can be transported by driving a pair of clamping members 101 to move horizontally through a translation drive mechanism, thereby facilitating the movement of the packaging material tray 600 from the placement position to the transfer device 300 while flipping the packaging material tray 600 .

[0083] Combine Figure 2 In some embodiments of the present invention, the transfer device 300 is an automatic guided vehicle (AGV transport vehicle), and a vertical placement platform 301 is provided on the upper side of the transfer device 300, and limiting structures 303 are respectively provided on both sides of the vertical placement platform 301.

[0084] Optionally, multiple support rollers 302 are provided on the upper side of the vertical placement table 301, and the multiple support rollers 302 are arranged along an arc path, the diameter of the arc path is the same as the diameter of the packaging material tray 600. When the packaging material tray 600 is placed on the vertical placement table 301, the axis of the packaging material tray 600 is parallel to the axis of the support rollers 302, and the side walls of the packaging material tray 600 are jointly supported by the multiple support rollers 302.

[0085] The limiting structure 303 can be a limiting guardrail. When the packaging material tray 600 is placed on the vertical placement table 301, the limiting structure 303 is located outside the end surface of the packaging material tray 600 to prevent the packaging material tray 600 from tipping over. It is worth noting that when the packaging material tray 600 is placed on the vertical placement table 301, the upper side of the limiting structure 303 is lower than the lower edge of the shaft portion of the packaging material tray 600, preventing it from interfering with the film removal operation at both ends of the packaging material tray 600.

[0086] The following combination Figures 3 to 6 The film tearing device 200 according to an embodiment of the present invention is exemplarily described as follows:

[0087] like Figure 3 As shown, the film tearing device 200 of the embodiment of the present invention includes a wind duct cover, a wind duct tube 204 and a negative pressure mechanism 205; a cutting piece 206 and a cutting drive structure are provided at one end of the wind duct cover, and the cutting piece 206 can be a blade or a pointed cone or other structures. The cutting drive structure is connected to the cutting piece 206, and the cutting drive structure is used to drive the cutting piece 206 to move along a preset trajectory; the wind duct tube 204 is a telescopic tube structure, and one end of the wind duct tube 204 is connected to the side of the wind duct cover away from the cutting piece 206; the negative pressure mechanism 205 is connected to the end of the wind duct tube 204 away from the wind duct cover.

[0088] Among them, the wind tube tube 204 is a telescopic sleeve structure, which enables the wind tube tube 204 to be telescopically adjusted in length, thereby realizing the position adjustment of the wind tube cover and the cutting piece 206 on the wind tube cover. When performing the film tearing operation, the opening of the wind tube cover is located at the film tearing position by adjusting the length of the wind tube tube 204, and the cutting piece 206 is brought into contact with the packaging film. The cutting drive structure then drives the cutting piece 206 to move along a preset trajectory to realize the cutting of the packaging film. The packaging film cut by the cutting piece 206 can be sucked into the wind tube cover and the wind tube tube 204 under the action of the negative pressure generated by the negative pressure mechanism 205.

[0089] In this embodiment, the preset trajectory is a circular trajectory or a linear trajectory, and the cutting drive structure is adapted to drive the cutting element 206 to move circumferentially along the circular trajectory or to drive the cutting element 206 to reciprocate along the linear trajectory. It will be appreciated that when the cutting element 206 moves circumferentially along the circular trajectory, the cutting element 206 forms a circular hole in the packaging film, while when the cutting element 206 reciprocates along the linear trajectory, the cutting element 206 forms a linear cut in the packaging film. The cutting trajectory of the cutting element 206 can be selected based on the actual packaging film cutting requirements. For example, if the packaging film at both ends of the packaging material tray 600 needs to be cut to form a through-shaft hole, the preset trajectory of the cutting element 206 can be set to a circular trajectory. If the packaging film at the side wall of the packaging material tray 600 needs to be cut, the preset trajectory of the cutting element 206 can be set to a linear trajectory to sever the annular packaging film on the side wall of the packaging material tray 600 and remove it from the packaging material tray 600.

[0090] In some embodiments of the present invention, three wind duct covers are provided; the openings of the first wind duct cover 201 and the second wind duct cover 202 are horizontally and relatively arranged, and the preset trajectories of the cutting pieces 206 on the first wind duct cover 201 and the second wind duct cover 202 are circular trajectories, which are respectively used to cut the packaging film at both ends of the packaging material tray 600; the opening of the third wind duct cover 203 is downward, and the preset trajectory of the cutting piece 206 on the third wind duct cover 203 is a straight trajectory, which is used to cut the packaging film on the side wall of the packaging material tray 600.

[0091] In this embodiment, the radius of the preset trajectory of the cutting piece 206 on the first wind duct cover 201 and the second wind duct cover 202 is not less than the radius of the packaging material axis 601, and the length of the preset trajectory of the cutting piece 206 on the third wind duct cover 203 is not less than the axial length of the packaging material disk 600.

[0092] When in use, the packaging material tray 600 is moved between the first wind tube cover 201 and the second wind tube cover 202 by the transfer device 300, so that the axis of the packaging material tray 600 coincides with the center of the preset trajectory of the cutting piece 206 on the first wind tube cover 201 and the second wind tube cover 202, and the wind tube tube 204 corresponding to the first wind tube cover 201 and the second wind tube cover 202 is adjusted to an appropriate length, so that the cutting pieces 206 on the first wind tube cover 201 and the second wind tube cover 202 are in contact with the packaging films at both ends of the packaging material tray 600, and the corresponding cutting pieces 206 are driven along the cutting drive structure. The circular trajectory can cut the packaging film from both ends of the packaging material tray 600. The transfer device 300 moves the packaging material tray 600 to the bottom of the third wind tube cover 203. The loading device 500 lifts the packaging material tray 600 after it has been threaded by the threading device 400. The wind tube 204 corresponding to the third wind tube cover 203 is adjusted to an appropriate length, so that the cutting piece 206 corresponding to the third wind tube cover 203 contacts the packaging film on the side wall of the packaging material tray 600. The cutting drive structure drives the corresponding cutting piece 206 along a linear trajectory to cut the packaging film on the side wall of the packaging material tray 600. The first wind tube cover 201, the second wind tube cover 202, and the third wind tube cover 203 can absorb the cut packaging film to prevent it from being scattered.

[0093] Combine Figure 4 and Figure 5 In some embodiments of the present invention, the first wind duct cover 201 and the second wind duct cover 202 both include an inner cylinder 207 and an outer cylinder 208 that are nested with each other. The inner cylinder 207 and the outer cylinder 208 are both circular cylinders. The inner cylinder 207 and the outer cylinder 208 are coaxial. An annular groove 209 is formed between the inner cylinder 207 and the outer cylinder 208. The cutting pieces 206 of the first wind duct cover 201 and the second wind duct cover 202 are suitable for moving along the annular groove 209.

[0094] like Figure 4 As shown, in an optional scheme, the cutting drive structure of the first wind duct cover 201 and the second wind duct cover 202 includes a mounting ring 210 and a first cutting drive motor 211, and the mounting ring 210 is rotatably set in the annular groove 209; the first cutting drive motor 211 is fixedly set on the wind duct cover and is transmission-connected to the mounting ring 210, and the first cutting drive motor 211 is used to drive the mounting ring 210 to rotate axially; the cutting piece 206 is fixedly set on the mounting ring 210.

[0095] Optionally, the mounting ring 210 is rotatably connected to one of the inner cylinder 207 and the outer cylinder 208, and the first cutting drive motor 211 is fixedly connected to the other of the inner cylinder 207 and the outer cylinder 208. For example, the mounting ring 210 is rotatably set on the outside of the inner cylinder 207, and the first cutting drive motor 211 is fixedly set on the inside of the outer cylinder 208, or the mounting ring 210 is rotatably set on the inside of the outer cylinder 208, and the first cutting drive motor 211 is fixedly set on the outside of the inner cylinder 207.

[0096] Optionally, a driving gear 212 is provided on the rotating shaft of the first cutting drive motor 211, and the mounting ring 210 is provided with an annular gear 213. The annular gear 213 is a tooth structure that is circumferentially around the mounting ring 210, and the driving gear 212 is meshed with the annular gear 213. It is worth noting that when the mounting ring 210 is located on the outside of the first cutting drive motor 211 (the mounting ring 210 is rotatably arranged on the inside of the outer cylinder 208, and the first cutting drive motor 211 is fixedly arranged on the outside of the inner cylinder 207), the annular gear 213 can be arranged on the inner wall of the mounting ring 210; when the mounting ring 210 is located on the inside of the first cutting drive motor 211 (the mounting ring 210 is rotatably arranged on the outside of the inner cylinder 207, and the first cutting drive motor 211 is fixedly arranged on the inside of the outer cylinder 208), the annular gear 213 can be arranged on the outer wall of the mounting ring 210.

[0097] When the first cutting drive motor 211 is running, it can drive the mounting ring 210 to rotate axially, thereby driving the cutting piece 206 on the mounting ring 210 to move along a circular trajectory.

[0098] like Figure 5 As shown, in another optional solution, the cutting drive structure of the first wind duct cover 201 and the second wind duct cover 202 includes a second cutting drive motor 214, and a driving gear 212 is provided on the rotating shaft of the second cutting drive motor 214; the second cutting drive motor 214 is slidably connected to one of the inner cylinder 207 and the outer cylinder 208 (for example, the sliding connection is achieved through the matching structure of the slide rail and the slide groove), and the other of the inner cylinder 207 and the outer cylinder 208 is provided with an annular gear 213, and the annular gear 213 is engaged with the driving gear 212; the cutting piece 206 of the first wind duct cover 201 and the second wind duct cover 202 is fixedly provided on the second cutting drive motor 214. For example Figure 5 As shown in FIG, the second cutting drive motor 214 is slidably connected to the inner wall of the outer cylinder 208 , and the annular gear 213 is provided on the outer wall of the inner cylinder 207 .

[0099] When the second cutting drive motor 214 is running, the second cutting drive motor 214 can slide along the annular groove 209 driven by the reaction force, thereby driving the cutting piece 206 on the mounting ring 210 to move along a circular track.

[0100] In this embodiment, a conductive slip ring can be provided on the inner wall of the outer cylinder 208 to ensure continuous power supply to the second cutting drive motor 214 during its sliding operation. This power supply method can avoid complex wiring. Of course, other power supply methods such as direct wires can also be used to supply power to the second cutting drive motor 214, which will not be described in detail here.

[0101] like Figure 6 As shown, in some embodiments of the present invention, a linear slide 215 is provided at the opening position of the third wind tube cover 203, and the cutting piece 206 is slidably provided in the linear slide 215. The cutting drive structure of the third wind tube cover 203 is suitable for driving the cutting piece 206 to slide back and forth along the linear slide 215.

[0102] In this embodiment, to facilitate the arrangement of the linear slide 215 , the opening of the third wind tube cover 203 can be set as a rectangular opening structure, and the linear slide 215 can be set along one side wall of the third wind tube cover 203 .

[0103] Optionally, the cutting drive structure of the third wind tube cover 203 includes a telescopic drive member, the telescopic drive member's telescopic direction is parallel to the linear slide 215, and the movable end of the telescopic drive member is fixedly connected to the cutting member 206 on the third wind tube cover 203. The telescopic drive member can be a cylinder or a telescopic motor, etc., which is not specifically limited here.

[0104] In some embodiments of the present invention, the air duct tube 204 includes a first tube body, a second tube body and a length adjustment drive member. The first tube body and the second tube body are arranged on each other and are sealed and slidably connected by structures such as sealing gaskets. The length adjustment drive member connects the first tube body and the second tube body to drive the first tube body and the second tube body to slide relative to each other in the axial direction, thereby adjusting the overall length of the air duct tube 204.

[0105] In this embodiment, the length adjustment drive member can be a telescopic drive structure (cylinder or telescopic motor, etc.), or a drive structure formed by a rotary motor, gears, and racks, etc., which is not specifically limited here.

[0106] In some embodiments of the present invention, the film tearing device 200 also includes a film tearing controller, a first position sensor and a second position sensor. The first position sensor is used to detect the position of the wind tube cover, and the second position sensor is used to detect the position of the packaging material tray 600 or the transfer device 300. The film tearing controller is connected to the control circuit of the first position sensor, the second position sensor and the length adjustment drive. The film tearing controller is configured to control the operation of the length adjustment drive according to the detection signals of the first position sensor and the second position sensor.

[0107] Specifically, the film tearing controller is configured to control the length adjustment drive to operate until the wind tube cover moves to the working position when the second position sensor detects that the packaging material tray 600 or the transfer device 300 reaches the film tearing position. At the working position, the cutting piece 206 on the wind tube cover contacts the corresponding position of the packaging film on the packaging material tray 600.

[0108] Optionally, the film tearing controller is connected to the control circuit of the cutting drive structure, and the film tearing controller is configured to control the operation of the cutting drive structure according to the detection signals of the first position sensor and the second position sensor. For example, the film tearing controller is configured to control the cutting drive structure corresponding to the first wind cylinder cover 201 and the second wind cylinder cover 202 to run for a first preset time period when the second position sensor detects the packaging material tray 600 or reaches the film tearing position corresponding to the first wind cylinder cover 201 and the second wind cylinder cover 202, and the first position sensor detects that the first wind cylinder cover 201 and the second wind cylinder cover 202 move to the working position, and the cutting drive structure corresponding to the first wind cylinder cover 201 and the second wind cylinder cover 202 is controlled to run for a first preset time period, and within the first preset time period, the cutting piece 206 on the first wind cylinder cover 201 and the second wind cylinder cover 202 rotates at least one circle; the film tearing controller is configured to control the cutting drive structure corresponding to the third wind cylinder cover 203 to run for a second preset time period when the second position sensor detects that the packaging material tray 600 reaches the film tearing position corresponding to the third wind cylinder cover 203, and the first position sensor detects that the third wind cylinder cover 203 moves to the working position, and the cutting drive structure corresponding to the third wind cylinder cover 203 is controlled to run for a second preset time period, and within the second preset time period, the cutting piece 206 on the third wind cylinder cover 203 performs at least one reciprocating slide, and the reciprocating slide covers the entire moving path of the cutting piece 206 on the third wind cylinder cover 203.

[0109] Optionally, the film tearing controller is configured to: after the cutting drive structure corresponding to the first wind cylinder cover 201 and the second wind cylinder cover 202 runs for a first preset period of time, control the length adjustment drive member on the wind cylinder tube 204 corresponding to the first wind cylinder cover 201 and the second wind cylinder cover 202 to run until the first wind cylinder cover 201 and the second wind cylinder cover 202 move away from the working position; after the cutting drive structure corresponding to the third wind cylinder cover 203 runs for a second preset period of time, control the length adjustment drive member on the wind cylinder tube 204 corresponding to the third wind cylinder cover 203 to run until the third wind cylinder cover 203 moves away from the working position.

[0110] In some embodiments of the present invention, negative pressure mechanism 205 includes a suction blower and a collection box. The collection box is connected to the suction blower's air inlet and the air duct 204, respectively. A filter is disposed within the collection box. When the suction blower is in operation, the packaging film is drawn into the collection box through the air duct cover and the air duct 204. The filter blocks the film and allows it to remain in the collection box for collection.

[0111] Optionally, the collection box is provided with an inspection door, through which the packaging film in the collection box can be taken out.

[0112] In the embodiment of the present invention, the first wind duct cover 201 , the second wind duct cover 202 and the third wind duct cover 203 can be connected to the same negative pressure mechanism 205 through the corresponding wind duct tube 204 , or can be connected to a negative pressure mechanism 205 respectively through the corresponding wind duct tube 204 .

[0113] Optionally, the film tearing controller is connected to the suction fan circuit of the negative pressure mechanism 205, and the film tearing controller is configured to control the operation of the suction fan according to the detection signals of the first position sensor and the second position sensor. For example, when the second position sensor detects that the packaging material tray 600 has reached the film tearing position corresponding to the first wind duct cover 201 and the second wind duct cover 202, and the first position sensor detects that the first wind duct cover 201 and the second wind duct cover 202 have moved to the working position, the film tearing controller is configured to control the suction fan corresponding to the first wind duct cover 201 and the second wind duct cover 202 to run for a first preset time; when the second position sensor detects that the packaging material tray 600 has reached the film tearing position corresponding to the third wind duct cover 203, and the first position sensor detects that the third wind duct cover 203 has moved to the working position, the film tearing controller is configured to control the suction fan corresponding to the third wind duct cover 203 to run for a second preset time.

[0114] It is worth noting that the packaging film on the side wall of the packaging material tray 600 and the packaging film at both ends are torn off at different workstations. In other words, the film tearing position corresponding to the third wind duct cover 203 is different from the film tearing positions corresponding to the first wind duct cover 201 and the second wind duct cover 202. The packaging film at both ends of the packaging material tray 600 is torn off first, and then the packaging film on the side wall of the packaging material tray 600 is torn off after the packaging material tray 600 is threaded.

[0115] Specifically, the transfer device 300 first carries the packaging tray 600 to the film tearing positions of the first wind duct cover 201 and the second wind duct cover 202 to perform the film tearing process of the packaging film at both ends of the packaging material tray 600. After the film tearing process of the packaging film at both ends is completed, the shaft threading device 400 performs the shaft threading operation on the packaging material tray 600, and the transfer device 300 moves the shaft-threaded packaging material tray 600 to the film tearing position of the third wind duct cover 203. At this time, the loading device 500 lifts the shaft-threaded packaging material tray 600 through the packaging material shaft 601, so that the side wall of the packaging material tray 600 is suspended in the air, and the third wind duct cover 203 can smoothly perform the film tearing process of the packaging film on the side wall of the packaging tray 600.

[0116] See you later Figure 3In some embodiments of the present invention, the film tearing device 200 also includes a first guardrail 216 and a second guardrail 217. The first guardrail 216 and the second guardrail 217 are arranged opposite to each other, and a film tearing channel is formed between the first guardrail 216 and the second guardrail 217. The first wind tube cover 201 is located on the side of the first guardrail 216 away from the second guardrail 217, the second wind tube cover 202 is located on the side of the second guardrail 217 away from the first guardrail 216, and the third wind tube cover 203 is located above the film tearing channel.

[0117] Optionally, the width of the film tearing channel is greater than or equal to the width of the transfer device 300 and the loading device 500, so that the transfer device 300 and the loading device 500 can be moved into the film tearing channel.

[0118] like Figure 3 As shown, in some embodiments of the present invention, the shaft threading device 400 includes a translation track 401, a six-axis robotic arm 402, and a clamping mechanism 403 arranged at the free end of the six-axis robotic arm 402. The translation track 401 is arranged perpendicular to the film tearing channel. The bottom end of the six-axis robotic arm 402 is slidably arranged on the translation track 401, and is provided with a movable driving member that can drive the six-axis robotic arm 402 to move along the translation track 401. The movable driving member can be a walking wheel or a telescopic driving member such as a cylinder or a telescopic motor parallel to the translation track 401, which is not specifically limited here. The clamping mechanism 403 can be a clamping structure such as a robot, and the packaging material shaft 601 can be clamped by the clamping mechanism 403.

[0119] The threading device 400 of this embodiment can be adjusted to a suitable position as needed, and the packaging material shaft 601 can be clamped with the cooperation of the six-axis robot 402 and the clamping mechanism 403, and the packaging material shaft 601 can be inserted into the threading hole of the packaging material tray 600. It is worth noting that the threading process of the threading device 400 can be achieved by moving the six-axis robot 402 according to a predetermined movement trajectory and adjusting the clamping mechanism 403 to a predetermined posture. It is also possible to add a sensor for position acquisition of the clamping mechanism 403 and the packaging material tray 600 to the threading device 400, and adjust the movement of the six-axis robot 402 and the clamping mechanism 403 according to the position information of the clamping mechanism 403 and the packaging material tray 600. Since the implementation of this action process is relatively conventional, it will not be described in detail. It should also be noted that in order to facilitate positioning during threading, the packaging material tray 600 can be moved to a preset position for threading by the transfer device 300.

[0120] The following combination Figures 7 to 11 The loading device 500 according to the embodiment of the present invention is exemplarily introduced as follows:

[0121] like Figure 7As shown, the loading device 500 of the embodiment of the present invention can lift the packaging material tray 600 after the film is torn and the shaft is passed through and send it into the filling machine 700 to complete the loading operation, replace manual labor, effectively reduce labor costs, and improve production efficiency and production quality.

[0122] Optionally, the loading device 500 is also used to remove the packaging material shaft 601 from the filling machine 700 and supply it to the shaft threading device 400, thereby replacing the manual process of removing the shaft and loading the material, further reducing labor costs, and enabling the recycling of the packaging material shaft 601.

[0123] Combine Figures 8 to 10 According to an embodiment of the present invention, the loading device 500 includes a base 501, a rotating body 502, a rotating driving member, a pair of packaging material axis frames 503 and a frame lifting drive structure; the base 501 is provided with a walking mechanism 505, and the walking mechanism 505 can drive the base 501 to move; the rotating body 502 is horizontally rotated and arranged on the base 501; the rotating driving member is connected to the rotating body 502, and the rotating driving member is suitable for driving the rotating body 502 to rotate horizontally; a pair of packaging material axis frames 503 are arranged on the rotating body 502 back to back, and a limiting groove 504 is provided on the upper side of the packaging material axis frames 503; the frame lifting drive structure is connected to the packaging material axis frames 503, and is suitable for driving the packaging material axis frames 503 to move up and down.

[0124] Optionally, the traveling mechanism 505 includes a plurality of traveling wheels, at least some of which are driving wheels driven by a motor. When the driving wheels rotate, they can drive the base 501 to move, thereby realizing the overall movement of the loading device 500.

[0125] Optionally, a vertical shaft can be set at the bottom of the rotating body 502, and the vertical shaft is rotatably connected to the base 501 through a bearing structure. The rotating drive component includes a rotating motor, which is connected to the vertical shaft through a gear set. When the rotating motor is running, it can drive the rotating body 502 to rotate horizontally.

[0126] Optionally, the vertical shaft, bearing structure, rotating motor and gear set are all arranged in the base 501, and the bottom plate of the rotating body 502 is slidably fitted with the upper side of the base 501, thereby reducing the overall volume of the loading device 500 and increasing the rotation stability of the rotating body 502.

[0127] The packaging material shaft frame 503 of this embodiment can support the packaging material shaft 601 or the packaging material tray 600 on which the packaging material shaft 601 is inserted.

[0128] Specifically, the packaging material shaft frame 503 includes a pair of support rods 510 and a rotating shaft 511. The pair of support rods 510 are arranged in parallel and spaced apart. The spacing between the pair of support rods 510 is greater than or equal to the axial length of the packaging material tray 600 and less than the length of the packaging material shaft 601. A limiting groove 504 is provided on the upper side of one end of the support rod 510. When the packaging material shaft frame 503 supports the packaging material shaft 601, the packaging material shaft 601 near both ends is located within the limiting groove 504. When the packaging material shaft frame 503 supports the packaging material tray 600 with the packaging material shaft 601 passing through it, the packaging material tray 600 is located between the pair of support rods 510, and the packaging material shaft 601 passing through the packaging material tray 600 is located near both ends within the limiting groove 504. The rotating shaft 511 is fixedly connected to the ends of the pair of support rods 510 that are away from the limiting groove 504, and the ends of the rotating shaft 511 are located outside the pair of support rods 510.

[0129] In this embodiment, a pair of packaging material shaft racks 503 are provided. During the loading process, one of the packaging material shaft racks 503 can be used to remove the packaging material shaft 601 from the filling machine 700, while the other packaging material shaft rack 503 can complete the loading operation of the packaging material tray 600. To facilitate the description of the shaft removal and loading operations, one of the packaging material shaft racks 503 is assumed to be the first packaging material shaft rack 503 and the other packaging material shaft rack 503 is assumed to be the second packaging material shaft rack 503. The specific operation process of shaft removal and loading is as follows:

[0130] The first packaging material axis frame 503 lifts the packaging material tray 600 with the packaging material axis 601 inserted therethrough by combining the position adjustment of the transfer device 300 by the walking mechanism 505 and the height adjustment of the first packaging material axis frame 503 by the frame lifting and lowering drive structure.

[0131] The transfer device 300 is moved to a designated position in front of the filling machine 700 by the traveling mechanism 505. After the filling machine 700's identification camera verifies that the packaging material information is correct, the filling machine 700 door is opened.

[0132] The second packaging material shaft rack 503 removes the packaging material shaft 601 from the filling machine 700 by combining the position adjustment of the transfer device 300 by the walking mechanism 505 and the height adjustment of the second packaging material shaft rack 503 by the frame lifting and driving structure.

[0133] The rotating body 502 is driven by the rotary drive member to rotate 180 degrees, so that the first packaging material shaft frame 503 faces the inside of the filling machine 700;

[0134] The first packaging material shaft rack 503 is configured to install the packaging material tray 600, which is provided with the packaging material shaft 601, into the filling machine 700 by combining the position adjustment of the transfer device 300 by the walking mechanism 505 and the height adjustment of the first packaging material shaft rack 503 by the frame lifting and driving structure.

[0135] The transfer device 300 is moved to the working position of the shaft threading device 400 by the walking mechanism 505 to complete the operation process of taking the shaft and loading the material.

[0136] Combine Figure 11 In some embodiments of the present invention, the frame lifting drive structure includes a screw drive motor 506, a lifting drive screw 507 and a screw slider 508. The screw drive motor 506 is fixedly arranged on the rotating body 502, and specifically, the screw drive motor 506 can be fixed to the rotating body 502 by a fixing structure such as a bolt or a clip. The lifting drive screw 507 is vertically arranged and rotatably connected to the rotating body 502. In order to increase the installation stability of the lifting drive screw 507, the upper and lower ends of the lifting drive screw 507 can be rotatably connected to the rotating body 502 through bearing structures respectively. The bottom of the lifting drive screw 507 is transmission-connected to the screw drive motor 506, and specifically, it can be transmission-connected by, for example, a gear set, a synchronous belt or a transmission chain. The screw slider 508 is slidingly connected to the rotating body 502 through a vertically arranged slide rail, and is threadedly connected to the lifting drive screw 507. The rotating shaft 511 of the packaging material shaft frame 503 is connected to the screw slider 508.

[0137] In this embodiment, when the screw drive motor 506 is running, the screw drive motor 506 drives the lifting drive screw 507 to rotate axially, and the lifting drive screw can drive the screw slider 508 and the packaging material shaft frame 503 to move up and down.

[0138] Optionally, the frame lift drive structure further includes two support rails 509, one on each side of the packaging material axis frame 503. Each support rail 509 has a vertically extending guide groove 512, through which the rotating shaft 511 of the packaging material axis frame 503 slides. The provision of the support rails 509 ensures more stable lifting of the lead screw slider 508 and the packaging material axis frame 503.

[0139] Optionally, mounting grooves 513 are provided on the two back sides of the rotating body 502, and the bracket moving guide rails 509 are located in the mounting grooves 513. The two bracket moving guide rails 509 are respectively provided on the side walls of the mounting grooves 513. This arrangement can reduce the occupied space.

[0140] Optionally, a frame lifting drive structure is provided on both sides of each packaging material axis rack 503. The same packaging material axis rack 503 is synchronously driven by two corresponding frame lifting drive structures, which can increase the stability of the packaging material axis rack 503 and ensure a more balanced force on the rotating axis 511 of the packaging material axis rack 503.

[0141] In some embodiments of the present invention, the loading device 500 further includes a pitch drive mechanism connected to the packaging material axis frame 503 and adapted to drive the vertical rotation of the packaging material axis frame 503. By driving the packaging material axis frame 503 to rotate vertically, the packaging material axis frame 503 can be adjusted to facilitate loading and unloading operations. Furthermore, by moving the packaging material axis frame 503 to its lowest position and rotating it vertically upward, the packaging material axis frame 503 can be concealed within the mounting slot 513.

[0142] Optionally, the pitch drive structure includes a pitch drive member 515, a pitch drive rack 516, and a pitch drive gear 517. The pitch drive member 515 is a telescopic drive structure, such as a cylinder or a telescopic motor. The fixed end of the pitch drive member 515 is fixedly connected to the lead screw slider 508, and the movable end of the pitch drive member 515 is fixedly connected to one end of the pitch drive rack 516. The pitch drive member 515 and the pitch drive rack 516 are suitable for synchronously rising and falling with the packaging material axis frame 503 under the drive of the lifting drive structure. The pitch drive gear 517 is fixedly connected to the rotating shaft 511 of the packaging material axis frame 503, and the pitch drive gear 517 is engaged with the pitch drive rack 516. When the pitch drive member 515 is extended or retracted, it can drive the pitch drive rack 516 to move, thereby driving the rotating shaft 511 of the packaging material axis frame 503 to rotate through the pitch drive gear 517, thereby adjusting the pitch angle of the packaging material axis frame 503.

[0143] Optionally, pitch drive structures are provided on both sides of each packaging material axis frame 503 , and the pitch drive structures on both sides of each packaging material axis frame 503 move synchronously and drive the packaging material axis frame 503 to adjust its angle simultaneously.

[0144] Optionally, the rotating body 502 is a hollow structure, and at least one of the frame lifting drive structure and the pitching drive structure is arranged in the rotating body 502.

[0145] Optionally, the loading device 500 also includes a loading controller, a communication module and a third position sensor. The communication module is connected to the filling machine 700 for communication. The third position sensor is used to obtain the position information of the loading device 500. The loading controller is electrically connected to the communication module, the third position sensor, the rotating drive component, the frame lifting drive structure and the pitching drive structure respectively.

[0146] The loading controller is configured to control the operation of the rotary drive member, the frame lifting drive structure and the pitching drive structure when receiving the loading signal from the filling machine 700, so as to deliver the packaging material tray 600 with the film torn and the shaft threaded to the front of the filling machine 700.

[0147] Furthermore, the loading controller is also configured to control the operation of the rotating drive component, the frame lifting drive structure and the pitching drive structure when receiving the signal that the hatch of the filling machine 700 is open, remove the remaining packaging material shaft 601 in the filling machine 700, load the packaging material tray 600 with the film torn and the shaft threaded into the filling machine 700, and transport the removed packaging material shaft 601 to the shaft taking position of the shaft threading device 400.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A packaging material tray conveying system, characterized in that: It includes a turning device, a film tearing device, a transfer device, an axis threading device and a loading device; The turning device is used to turn the packaging material tray to a horizontal axis; the transfer device is provided with a vertical placement table, the vertical placement table is suitable for supporting the packaging material tray with a horizontal axis, and the transfer device is suitable for transferring the packaging material tray turned by the turning device to the film tearing device; The film tearing device is used to cut and remove the packaging film at both ends of the packaging material tray on the transfer device; The shaft-threading device is used to thread the packaging material shaft into the packaging material tray from which the packaging films at both ends have been removed by the film-tearing device; The loading device is used to lift the packaging material tray after passing through the axis-threading device through the packaging material axis; The film tearing device is also used to cut and remove the packaging film on the side wall of the packaging material tray on the loading device; The feeding device is also used to supply the packaging material tray with the packaging film removed from both ends and side walls to the filling machine; The loading device is also used to remove the packaging material shaft from the filling machine and supply it to the shaft threading device; The feeding device comprises: A base, wherein the base is provided with a walking mechanism; A rotating body is horizontally rotatably arranged on the base; a rotation driving member connected to the rotating body, wherein the rotation driving member is adapted to drive the rotating body to rotate horizontally; A pair of packaging material shaft racks, the pair of packaging material shaft racks are arranged on the rotating body in opposite directions, and the upper sides of the packaging material shaft racks are provided with limiting grooves; A frame lifting drive structure connected to the packaging material shaft frame and suitable for driving the packaging material shaft frame to lift; The pitch driving structure is connected to the packaging material axis frame and is suitable for driving the packaging material axis frame to rotate vertically.

2. The packaging material tray conveying system according to claim 1, characterized in that: The turning device comprises: a pair of clamping members, the pair of clamping members being arranged opposite to each other; a flip driving mechanism connected to the pair of clamping members and used to drive the pair of clamping members to rotate vertically and synchronously; a clamping drive mechanism, connected to the flipping drive mechanism and the pair of clamping members, and used to drive the pair of clamping members to move closer to or away from each other; The clamping and lifting mechanism is connected to the clamping drive mechanism and is used to drive the clamping drive mechanism, the flip drive mechanism and the pair of clamping members to move up and down.

3. The packaging material tray conveying system according to claim 2, characterized in that: The turning device further comprises: The translation drive mechanism is connected to the clamping and lifting mechanism and is used to drive the clamping and lifting mechanism to move horizontally.

4. The packaging material tray conveying system according to any one of claims 1 to 3, characterized in that: The transfer device is an automatically guided transport vehicle, the upper side of the transfer device is provided with the vertical placement platform, and limiting structures are respectively provided on both sides of the vertical placement platform.

5. The packaging material tray conveying system according to claim 1, characterized in that: The pitch drive structure comprises: A pitch drive gear fixedly connected to the rotating shaft of the packaging material shaft frame; a pitch drive rack meshing with the pitch drive gear; A pitch driving member, wherein the pitch driving member is a telescopic driving member, a fixed end of the pitch driving member is connected to the frame lifting drive structure, and a movable end of the pitch driving member is fixedly connected to the pitch driving rack; The lifting drive structure is suitable for driving the pitch driving member and the pitch driving rack to rise and fall synchronously with the packaging material axis frame.

6. The packaging material tray conveying system according to claim 1, characterized in that: The film tearing device comprises: An air duct cover, wherein a cutting piece and a cutting drive structure are provided at one end of the air duct cover, the cutting drive structure is connected to the cutting piece, and the cutting drive structure is used to drive the cutting piece to move along a preset track; An air duct tube is a telescopic tube structure, one end of which is connected to a side of the air duct cover facing away from the cutting piece; The negative pressure mechanism is connected to one end of the wind tube tube away from the wind tube cover.

7. The packaging material tray conveying system according to claim 6, characterized in that: The preset track is a circular track or a linear track, and the cutting drive structure is suitable for driving the cutting piece to move circumferentially along the circular track or for driving the cutting piece to move back and forth along the linear track.

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